Autonomous traverse tire changing bot, autonomous tire changing system, and method therefor

ABSTRACT

An autonomous traverse tire changing bot includes a carriage having a carriage frame with a carriage drive section effecting autonomous traverse of the carriage, along a traverse path, relative to a traverse surface or a floor on which the bot rests, and a bot frame including at least one actuator mounted to the carriage and a bot drive section with a motor defining an actuator degree of freedom, wherein the at least one actuator has an end effector having a tire engagement tool disposed so that articulation of the at least one actuator with the actuator degree of freedom effects engagement contact of the tire engagement tool and a tire mounted on a vehicle, and a controller effects traverse of the bot along the traverse path effecting dynamic positioning of the at least one actuator relative to a variable position of the vehicle with the tire mounted thereon.

This application is a continuation of Non-Provisional U.S. patentapplication Ser. No. 17/371,942, filed Jul. 9, 2021 (now U.S. Pat. No.11,446,826, issues on Sep. 20, 2022), which is a continuation of patentapplication Ser. No. 17/313,072, filed May 6, 2021, which is claimspriority to and the benefit of U.S. Provisional Patent Application No.63/022,983, filed May 11, 2020, the disclosures of which areincorporated herein by reference in their entireties.

BACKGROUND 1. Field

The present disclosure generally relates to vehicle tire changingequipment, and more particularly, to automated vehicle tire changingequipment and systems.

2. Brief Description of Related Developments

Like many industries that generally rely on human labor, there is ashortage of vehicle service technicians to meet demand with respect to,for example, the automobile service industry. Even with an adequatenumber of employees, throughput and efficiency of an automobile servicefacility or center may be impacted if one of their vehicle servicetechnicians does not show up for work.

In addition to maintaining an adequate number of vehicle servicetechnicians, automobile service facilities also face a challenge offinding a suitably qualified technician for any given tasks. Forexample, senior vehicle service technicians are often too highly paidfor a service facility to justify the senior vehicle service technicianto perform certain types of work. Moreover, it is not uncommon for somesenior vehicle service technicians to refuse work that is below theirlevel of expertise. For example, a senior vehicle service technician mayrefuse to perform vehicle tire changes. This creates a problem forservice facilities in that an appropriate mix of vehicle servicetechnician skill level must generally be maintained to maximize profitsand efficiently operate the service facility.

A constantly changing level of consumer demand for certain automotiveservices may also compound the problem of efficient service facilityoperation because at some points in time the service facility may havean appropriate number of vehicle service technicians with an appropriateskill level for a certain task(s), such as vehicle tire changes, whileat other times that same number of vehicle service technicians may beunsuitable for fulfilling customer demand with respect to the vehicletire changes.

Generally, depending on the size of the service facility, tire changesare performed fully manually, manually with machine assist, or in asemi-automated manner. Fully manual tire changes are labor intensive andinvolve the use of manual bead breakers, crowbars or mount and demounttools, tire irons, and wheel supports. The amount of labor involved withfully manual tire changes may limit a number of tire changes that can beperformed by a vehicle service technician in a given amount of time. Themanual with machine assist tire changes reduce the labor involved withthe tire change and generally include a machine with hydraulic-poweredaxes of motion that assist with breaking of the tire bead as well asmaneuvering of the tire bead around a flange of the wheel from or towhich the tire is being removed or installed. Semi-automated tiremachines reduce the labor involved with a tire change even further, thusallowing a service technician to perform more tire changes; however,these semi-automated machines generally require constant vehicle servicetechnician presence making multiple simultaneous tire changes by asingle vehicle service technician unfeasible. The number of tire changes(and vehicles processed) that can be performed with the above-notedconventional tire change apparatus/methods is generally limited by thenumber of machines and corresponding vehicle service techniciansavailable to use those machines.

In addition to the tire changing process, newly installed tires requirethe tire/wheel assembly to be balanced. This is also typically performedby a vehicle service technician using a conventional tire balancingmachine with the tire/wheel assembly off of the vehicle. While tirebalancing machines that balance the tire/wheel assembly with thetire/wheel assembly on the vehicle have been used in the past,all-wheel-drive and traction control systems on newer vehicles have allbut eliminated these conventional methods of balancing the tire/wheelassembly with the tire/wheel assembly on the vehicle. Tire balancingbeads may also be used to dynamically balance a tire/wheel assembly,where the tire balancing beads are inserted into the tire by a vehicleservice technician before seating the tire bead on the wheel. In anyevent, each of these tire balancing methods requires the constantpresence of the vehicle service technician, again limiting the number oftires that can be changed in a given time period.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing aspects and other features of the present disclosure areexplained in the following description, taken in connection with theaccompanying drawings, wherein:

FIGS. 1A-1B are schematic illustrations of an automated tire changingsystem incorporating aspects of the present disclosure;

FIG. 2A is another schematic illustration of the automated tire changingsystem of FIGS. 1A-1B incorporating aspects of the present disclosure;

FIG. 2B is still another schematic illustration of the automated tirechanging system of FIGS. 1A-1B incorporating aspects of the presentdisclosure;

FIG. 2C is yet another schematic illustration of the automated tirechanging system of FIGS. 1A-1B incorporating aspects of the presentdisclosure;

FIG. 2D is another schematic illustration of the automated tire changingsystem of FIGS. 1A-1B incorporating aspects of the present disclosure;

FIG. 3 is an exemplary illustration of a tire and wheel assembly inaccordance with aspects of the present disclosure;

FIG. 4 is a schematic illustration of a portion of the automated tirechanging system of FIGS. 1A-1B incorporating aspects of the presentdisclosure;

FIG. 5 is a schematic illustration of automated guided vehiclenavigation in accordance with aspects of the present disclosure;

FIG. 6 is a schematic illustration of automated guided vehiclenavigation in accordance with aspects of the present disclosure;

FIG. 7 is a schematic illustration of automated guided vehiclenavigation in accordance with aspects of the present disclosure;

FIG. 8 is a schematic illustration of automated guided vehiclenavigation in accordance with aspects of the present disclosure;

FIGS. 9A-9C are an exemplary method in accordance with aspects of thepresent disclosure; and

FIG. 10 is a schematic block diagram of the automated tire changingsystem in accordance with aspects of the present disclosure.

DETAILED DESCRIPTION

FIGS. 1A-1B illustrates an exemplary automated tire changing system 100in accordance with aspects of the present disclosure. Although theaspects of the present disclosure will be described with reference tothe drawings, it should be understood that the aspects of the presentdisclosure can be embodied in many forms. In addition, any suitablesize, shape or type of elements or materials could be used.

Referring to FIGS. 1A-1B and 3 , the aspects of the tire changing system100 described herein automate the process of changing tires 111T on avehicle 110. As will be described herein the tire changing system 100provides for changing tires with the wheel 111W on (i.e., in situ) thevehicle 110 or by removing the wheel 111W from the vehicle 110. In oneor more aspects, the tire changing system 100 provides for an operatorof the tire changing system 100, such as a vehicle service technician199, to select an in-situ tire change or a tire change by removing thewheel 111W from the vehicle 110. The vehicle 110 is any suitable vehiclehaving a wheel assembly 111 (including a tire 111T mounted on a wheel orrim 111W) coupled to and removable from a wheel hub. Suitable examplesof a vehicle 110 include, but are not limited to, passenger vehicles,commercial vehicles, and recreational vehicles.

The aspects of the tire changing system 100 described herein automatetasks associated with changing tires 111T on the vehicle 110. A tirechange, as described herein, includes at a minimum, removal of an old orused tire 111TU from the wheel 111W and replacement of the used tire111TU with what may be referred to as a replacement or other (new) tire111TN that is installed on the wheel 111W in place of the removed usedtire 111N. The aspects of the tire changing system 100 provides for asingle vehicle service technician 199 to simultaneously monitor thechanging of more than one tire on the same or different vehiclesaddressing the problems noted above. The aspects of the tire changingsystem 100 described herein generally limit vehicle service technician199 interaction with the vehicle(s) 110 and/or tire changing apparatus(e.g., tire changing machines, tire balancers, etc.) and substantiallyeliminates lifting of wheel assemblies 111 by the vehicle servicetechnician 199. This allows the vehicle service technician 199 to workin a less labor intensive environment and interact with the tirechanging system 100 when necessary (e.g., such as to deliver vehicles110 to/from the tire changing system 100, provide replacement tires110TN or other supplies (valve stems, valve caps, lubricants, cleaningsolutions, etc.) to the tire changing system 100, perform maintenance oncomponents of the tire changing system, etc.). The aspects of the tirechanging system 100 also eliminate the need to lift the vehicle 110 toheights that would be ergonomic for the vehicle service technician 199to remove and install the wheel assembly 111 from and to the vehicle110. Here the vehicle 110 only need be lifted (or a normal force beremoved from the wheel assembly 111) to a height that the tire 111T nolonger contacts a traverse surface on which the vehicle 110 was movingso that suitable clearance is provided around the tire 111T tofacilitate removal of the wheel assembly 111 from the vehicle or removalof the tire 111T from the wheel 111W.

Still referring to FIGS. 1A-1B, the tire changing system 100 isconfigured to change one or more tires with the wheel 111W remaining on(i.e., in-situ) the vehicle 110 and/or with the wheel 111W removed fromthe vehicle 110. The tire changing system 100 includes at least one tirechanging station 101, noting that multiple tire changing stations may beprovided so that multiple vehicles 110 can be processed simultaneouslyby a single vehicle service technician 199. The autonomous configurationof the tire changing system provides for the processing of multiplevehicles 110 by a single vehicle service technician 199 and with minimalintervention by the vehicle service technician 199 in the tire changingprocess. Generally the tire changing station 101 includes at least oneautonomous traverse tire changing bot 120 (referred to herein forconvenience as “bot 120”). It should be understood that reference to anautonomous traverse tire changing bot 120 does not preclude inclusion ofmore than autonomous traverse tire changing bot as will be described ingreater detail herein. For example, some aspects of the presentdisclosure (as described herein) include more than one separate and/orindependent and cooperative bots 120, cooperating to effect a tirechange (through in some aspects a single robot directly effects the tirechange). In some aspects, there multiple bots 120 are configured forrespective tasks. For example, one bot 120 is configured for wheelassembly 111 or tire 111T removal, another bot 120 is configured for lugnut/bolt removal, or any other process of the tire change as indicatedby, for example, the tools 129A-129M described herein.

Referring to FIGS. 1A-1B and 10 a control architecture 1000 of the tirechanging system 100 will be described. The control architecture of thetire changing system 100 generally includes a business and applicationlogic portion 1001, a control console 1010, and one or more tirechanging system devices 1020A-1020 n (where n is an integer that denotesan upper numerical limit to the number of tire changing system devicesin the tire changing system 100). The one or more tire changing systemdevices 1020A-1020 n are any one or more of the devices described herein(i.e., bots 120, automated or semi-automated tire changing machines 182,automated or semi-automated tire balancing machines 183, tire storageracks/carts 187, barriers, etc.). The one or more tire changing systemdevices 1020A-1020 n are in one aspect assigned to a single tirechanging station 101 (such as where the service facility has a singleservice bay), or in other aspects, some of the tire changing systemdevices 1020A-1020 n are assigned to one tire changing station 101 andother ones of the tire changing system devices 1020A-1020 n are assignedto another tire changing station 101 (such as where the service facilityhas more than one service bay).

As can be seen in FIG. 10 , a portion of the business and applicationlogic portion 1001 overlaps with a portion of the control console 1010;however in other aspects there may not be any overlap. For exemplarypurposes, a portion of the business and application logic portion 1001is resident in the control console 1010. The business and applicationlogic portion 1001 is configured with any suitable operating system (OS)configured (e.g., programmed with non-transitory computer readable codeexecuted on any suitable processor of the control console 1010) tofacilitate one or more of local services and cloud based services. Thecontrol console 1010 includes a database access and management module1002 (which may be configured as a hardware or software module), a cloudinterface module 1003 (which may be configured as a hardware or softwaremodule), an operator graphical user interface 1004, and an applicationlogic module 1005 (which may be configured as a hardware or softwaremodule) that are shared with the business and application logic portion1001.

The operator graphical user interface 1004 is configured (e.g.,programmed with non-transitory computer readable code executed anysuitable processors and memory) to facilitate operator input and control(e.g., both operational control for tire changing services andadministrative services (e.g., billing, software updates, databaseentry, billing, inventory, etc.) control) of the tire changing system100. The database access and management module 1002 is in communicationwith operator graphical user interface 1004 and any suitable database(s)1060 and facilitates access to and storage of information including, butnot limited to tire information, customer information, vehicleinformation, billing information, and inventory and relationshipsbetween the various information (i.e., each customer or vehicle has arespective record that includes respective tire information, respectivebilling information, etc.). The cloud interface module 1003 isconfigured (e.g., programmed with non-transitory computer readable codeexecuted any suitable processors and memory) to provide an interfacebetween the control console and one or more cloud services. It is notedthat reference to cloud services herein pertains to cloud computingwhich is known as the on-demand availability of computer systemresources, especially data storage and computing power, without directactive management by the user and generally refers to data centersavailable to many users over the Internet. These cloud services includebut are not limited to remote access to the tire changing system 100,point of service payment and billing, and over-the-air software updatesto components of the tire changing system 100. The application logicmodule 1005 is configured to at least interface the operator graphicaluser interface 1004, the database access and management module 1002, andthe cloud interface module 1003 with each other.

The control console 1010 also includes a Web application interface 1006,a process monitor module 1007 (which may be configured as a hardware orsoftware module), a process control module 1008 (which may be configuredas a hardware or software module), a device maintenance module 1009(which may be configured as a hardware or software module), and anetwork application interface to device module 1011 (which may beconfigured as a hardware or software module). The Web applicationinterface 1006 is configured (e.g., programmed with non-transitorycomputer readable code executed any suitable processors and memory) toprovide access, e.g., for the operator graphical user interface and/orother modules of the control console, to a web server and/or web browser(e.g., for accessing the cloud services). The process monitor module1007 is configured to (e.g., programmed with non-transitory computerreadable code executed any suitable processors and memory) monitor(e.g., by sending data to and receiving data from the devices 1020A-1020n indicating a tire change process has started, has ended, or paused dueto error) the tire changing process as described herein and providefeedback to the process control module 1008. The process control module1008 is programmed (e.g., programmed with non-transitory computerreadable code executed any suitable processors and memory) to issuecommands to the devices 1020A-1020 n controlling the process flow for atire change so that tire change operations are performed in apredetermined sequence that may depend on the type of tire change andtire change services requested. The device maintenance module 1009 isprogrammed (e.g., programmed with non-transitory computer readable codeexecuted any suitable processors and memory) to monitor a health of thedevices 1020A-1020 n and provide maintenance alerts to the operatorthrough the operator graphical user interface 1004. The networkapplication interface to device module 1011 is configured to provides awired or wireless interface between the components of the controlconsole and the devices 1020A-1020 n.

Referring still to FIGS. 1A-1B, the bot 120 including a bot frame 125also includes or is coupled/mounted to a carriage 120C. The carriage120C is any suitable carriage that facilitates bot 120 traverse asdescribed herein. For example, in one or more aspects, the carriage 120Cis a wheeled carriage that includes a carriage frame 120F, wheels 120Wsupporting the carriage frame 120F, and a carriage drive section 121;while on one or more other aspects the carriage 120C is a slidingplatform that slides or rides along rails and is driven in any suitablemanner, such as by ball screws or other linear actuator. For exemplarypurposes only the carriage 120C will be described herein as a wheeledcarriage but it should be understood that the carriage may or may notinclude wheels and be driven in any suitable manner (e.g., slid alongrails, etc.) so that the bot 120 moves relative to the vehicle 110 foreffecting a tire change as described herein.

For exemplary purposes only, the carriage drive section 121 (whetherwheeled or otherwise) includes at least one motor 121M that defines atleast one degree of freedom powering at least one of the wheels 120W (orrotating a ball-screw, etc.) effecting autonomous traverse of thecarriage 120C, along a traverse path 299 (see, e.g., FIG. 2A), relativeto a traverse surface or a floor 198 on which the bot 120 rests. As willbe described herein, the traverse path 299 along which the bot travelsis in one or more aspects, a path around the entire vehicle 110 or apath around a portion of the vehicle 110, where the traverse path maydepend on a number of bots 120 are included in the tire changing system100. For example, where there are two bots 120 each bot traverses alonga respective side (e.g., driver or passenger side) of the vehicle 110.As another example, where there are two bots 120 on a common side of thevehicle 110 (e.g., either the driver or passenger side) each bot 120traverses along a respective portion of the common side of the vehicle110.

As will be described in greater detail, the traverse path (such astraverse path 299 in FIG. 2A) may be defined in any suitable manner,such as through non-contact bot guidance on an undeterministic travelsurface (i.e., without physical constraints guiding movement of the bot120) or with physical constraints (such as rails) on which the bot 120rides. Where the bot 120 travels on an undeterministic travel surfacethe wheels 120W are configured in any suitable manner so as to providethe carriage 120C with both linear traverse and rotational movement. Forexample, one or more of the wheels 120W may be steerable or the wheelsmay be holonomic wheels (such as Mecanum wheels, Omni wheels, or polywheels). Where the bot 120 travels on, e.g., rails 236 (see FIG. 2D),the wheels 120W may be any suitable wheels configured to follow andtravel along the rails.

In one or more aspects, the entire bot 120 may align itself in one ormore degrees of freedom with respect to the vehicle 110, the wheelassembly 111, the wheel 111W, the tire 111T or any other component ofthe tire changing system 100 to perform a tire changing operation. Forexemplary purposes only, a center of rotation of the tire bead breakertool 129H (described herein) is substantially aligned with a center ofrotation of the wheel assembly 111 and the plane in which the tire beadbreaker tool 129H acts is set so as to be substantially parallel to therotational axis of the wheel assembly 111. Where the carriage 120Cincludes steerable or holonomic wheels, this positional adjustment ofthe tire bead breaker tool 129H is accomplished, at least in part, bycontrolling the wheels for positioning the bot 120 along one or more ofthe following directions:

-   -   linear direction 237 extending substantially parallel to both        the floor 198 and the vehicle 110 and extending lengthwise (from        front to back) relative to the vehicle 110; and    -   linear direction 238 extending substantially perpendicular to        the vehicle 110 and substantially parallel to the floor 198;    -   Where the carriage 120C is guided by, for example, rails 236        (i.e., constrained traverse) movement of the carriage in        direction 237 is accomplished by moving the carriage along the        rails 236. However, movement in direction 238 is limited due to        the constraints of the rails 236. Here the carriage 120C        includes a movement stage 120S that coupled to the frame 120F so        as to move in at least direction 238 relative to the frame 120F.        For example, the movement stage 120S is coupled to the frame        120F by stage guide rails having any suitable drive that        provides the movement stage 120S with linear movement in        direction 238.

In one or more aspects, such as where the carriage 120S is rail guided,intervening between the movement stage 120S and the stage guide rails isone or more rotational couplings. In other aspects, such as where thecarriage 120 is a wheeled carriage, the one or more rotational couplingscouple a movement stage 120S (similar to that of the rail guidedcarriage) to the frame 120F. These one or more rotational couplings areinclude any suitable drives for moving the movement stage 120S in one ormore of the following directions:

-   -   rotational direction 239 having an axis of rotation 239R        extending substantially perpendicular to the floor;    -   rotational direction 240 having an axis of rotation 240R        extending substantially parallel with the floor 198; and    -   rotational direction 241 having an axis of rotation 240R        extending substantially parallel with the floor 198.

In some aspects, a vertical drive may be provided to move the movementstage 120S (and/or the frame 120F) vertically to raise or lower themovement stage 120S (and/or the frame 120F). As such, the movement stage120S may be provided with five or six degrees of freedom (in otheraspects there may be more than six or less than five degrees of freedom)for aligning the bot 120 with respect to the vehicle 110, the wheelassembly 111, the wheel 111W, the tire 111T or any other component ofthe tire changing system 100 to perform a tire changing operation.

The bot frame 125 includes at least one robotic articulated arm 126(referred to herein for convenience as an actuator or “robotic arm 126”)and a bot drive section 127. In one or more aspects, the at least onerobotic arm 126 may be any suitable multi-axis arm available from suchmanufacturers as Fanuc Robotics Company, Kuka Automation Company, andYaskawa Electric Corporation. In one or more aspects the at least onerobotic arm 126 has a bespoke arm configuration with any suitable numberof axes. The at least one robotic arm 126 (whether commerciallyavailable or bespoke) has any suitable number of degrees of freedom foreffecting a tire change as described herein. For example, the at leastone robotic arm 126 is a one axis arm, a two axis arm, a three axis arm,a five axis arm, a six axis arm, a seven axis arm, nine axis arm, or anarm with any other suitable number of axes. In one or more aspects, asdescribed herein, the bot 120 has more than one robotic arm 126, 126Awhere, in one or more aspects, the different arms have different numbersof axes and/or different tire changing capabilities. The robotic arm 126is driven by the bot drive section 127, where the bot drive section 127includes at least one motor 127M that defines a bot arm degree offreedom, separate and distinct from the at least one degree of freedompowering the traverse path 299 axis of the bot 120 (e.g., the degree offreedom powering the at least one of the wheels 120W, ball screwrotation, etc.). The robotic arm has an end effector 128 that includes awheel or tire engagement tool 129 disposed so that articulation of theat least one robotic arm 126 with the bot arm degree of freedom effectsengagement contact of the wheel or tire engagement tool 129 and a wheel111W or a tire 111T mounted on the vehicle 110. The arm articulationaxis/axes AX1-AX6 defined by articulation of the at least one roboticarm 126 with the bot arm degree of freedom is separate and distinct fromthe traverse path 299 along which the carriage 120C traverses. Asdescribed herein, the aspects of the present disclosure provide forautomated control of fully dynamic pose of the carriage 120C (at leastalong one drive axis (e.g., along rails or in at least one traversedirection along the undeterministic traverse surface) of the carriage120C) so that articulation of the at least one robotic arm 126 (along adifferent drive axis than the drive axis of the carriage 120C) engagesany suitable tool (such as those described herein) coupled to the endeffector 128 of the at least one robotic arm 126 to a variablypositioned wheel 111W and/or tire 111T on the vehicle 110.

Referring to FIGS. 1A-1B and 3 , in accordance with one or more aspectsof the present disclosure the wheel or tire engagement tool 129 includesone or more of a wheel assembly grip 129A, a valve stem cap installationtool 129B, a valve stem cap removal tool 129C, a tire deflation tool129D, a tire mounting/dismounting tool 129E, a valve core installationtool 129F, a valve core removal tool 129G, a tire bead breaker tool129H, a wheel cleaning tool 129I, a lug wrench 129J, a tire balancingbead dispenser 129K, a tire inflation tool 129L, a tire balancer 129M,and/or any other suitable tool that effects changing a tire 111T. In oneor more aspects, the above-noted tools are stored on any suitable toolholder 134 carried by the carriage 120C or located off-board the bot 120at a location within the tire changing station 101 that is accessible bythe at least one robotic arm 126. In one or more aspects, theabove-noted tools are interchangeable/swappable with each other so thatthe end effector 128 places one and picks up another different tool forperforming tire changing tasks. For example, the bot 120 includes acontroller 160 that is configured to command the at least one roboticarm 126, based on a task to be performed, to automatically exchange onetool for another, such as through articulation of the at least onerobotic arm 126 the end effector 128 places a tool (e.g., such as thetire bead breaker tool 129H) at the tool holder 134 and then picksanother different tool from the tool holder (e.g., such as tireinflation tool 129L) for performing a subsequent step in the tire changeprocess. The controller 160 is also configured to control the drives ofthe bot 120 (e.g., drives of the arm 126 and carriage 120C that effectmovement of the arm 126 and carriage 120C as described herein) toposition the carriage 120C relative to the vehicle 110, another bot 120or other component (e.g., tire balancer, tire changing machine, cart,etc.) of the tire changing system 100. Referring also to FIG. 10 , thecontroller 160 includes a network application interface 1030 and acommunication module 1031 (configured as a hardware or software module)so that the bot 120 communicates with the control console 1010 and/orcloud based services (e.g. such as for bot software updates). Thecontroller 160 is programmed with process control algorithms and statemachines 1032 to effect the operation of the bot 120 as describedherein. A motion application interface 1033 and vision applicationinterface 1034 are also provided in the controller 160 so that theprocess control algorithms and state machines 1032 interface with motioncontrollers 1035 and vision processors 1036 of the bot 120. The bot 120includes any suitable onboard communications network 1037 (such as anEtherCAT or other suitable network) that communicably couples thecameras, drives, moors, sensors, actuators, switches, etc. (as describedherein) of the bot 120 to a respective motion controller 1035 or visionprocessor 1036. While the controller 160 of the bot 120 was described,it should be understood that controllers of the other tire changingsystem 100 devices 1020A-1020 n are substantially similar to thecontroller 160.

In other, aspects the bot 120 includes more than one robotic arm 126,126A (two arms are shown in FIGS. 1A-1B for exemplary purposes but inother aspects there may be more than two arms). Each of the more thanone robotic arm 126, 126A has a different respective arm articulationaxis (noting each robotic arm 126, 126A includes respective axes AX1-AX6of articulation), and a different respective end effector 128, 128Adisposed for working on the wheel 111W or tire 111T mounted on thevehicle 110 (or off of the vehicle). Here, in one or more aspects, eachrobotic arm 126, 126A holds a different one of the tools noted above(noting that in some aspects, the tools are also exchangeable as notedabove). Further, the above-noted tools are combined, in some aspects, sothat a single combination tool performs several tasks. For example, inone aspect, the wheel assembly grip 129A is combined with one or more ofthe a valve stem cap installation tool 129B, a valve stem cap removaltool 129C, a tire deflation tool 129D, a tire mounting/dismounting tool129E, a valve core installation tool 129F, a valve core removal tool129G, a tire bead breaker tool 129H, a wheel cleaning tool 129I, a lugwrench 129J, a tire balancing bead dispenser 129K, a tire inflation tool129L, a tire balancer 129M, and/or any other suitable tool that effectschanging a tire 111T (noting any other combinations of the various toolsmay be effected and are within the scope of the present disclosure).

The wheel assembly grip 129A has any suitable configuration for grippingthe wheels assembly 111 for carrying the wheel assembly to and from thevehicle 110, such as through articulation of the at least one roboticarm 126 and guided by position information provided by any suitablesensors, such as those described herein. For exemplary purposes only thewheel assembly grip 129A has any suitable configuration and/orcomponents to effect carrying the wheel assembly 111, where suitableexamples of wheel assembly grips can be found in U.S. Pat. No. 5,125,298issued on Jun. 30, 1992; U.S. Pat. No. 9,757,828 issued on Sep. 12,2017; and United States pre-grant publication number 2017/0334073,published on Nov. 23, 2017, the disclosures of which are incorporatedherein by reference in their entireties. The wheel assembly grip 129Aincludes an end effector mount that couples the wheel assembly grip 129Ato the end effector 128 of the at least one robotic arm 126.

The valve stem cap installation tool 129B has any suitable configurationfor installing a valve stem cap 2101 to a valve stem 2100 of the wheel111W. For exemplary purposes only, the valve stem cap installation tool129B includes any suitable valve stem cap holder configured to threadthe valve stem cap 2101 onto the valve stem 2100. In one aspect, thevalve stem cap holder, through articulation of the at least one roboticarm 126 and guided by position information provided by any suitablesensors (located on-board or off-board the bot 120), such as thosedescribed herein, picks up a valve stem cap 2101, e.g., from anysuitable rack accessible to or carried by the bot 120 (or from any othersuitable location such as fed through the valve stem cap holder).Through articulation of the at least one robotic arm 126, and guided byposition information provided by any suitable sensors such as thosedescribed herein, the valve stem cap 2101 is aligned with the valve stem2100 and installed on the valve stem 2100. The valve stem capinstallation tool 129B includes an end effector mount that couples thevalve stem cap installation tool 129B to the end effector 128 of the atleast one robotic arm 126.

The valve stem cap removal tool 129C is substantially similar to thevalve stem cap installation tool 129B (or have any other suitableconfiguration for removing valve stem caps 2101 from the valve stems2100; however, rather than pick up or feed valve stem caps 2101 to thevalve stem cap holder, the valve stem caps are ejected from the valvestem cap holder after removal and placed in any suitable storage hopper.Otherwise, the valve stem cap removal tool 129C operates in a mannerthat is substantially the reverse of the valve stem cap installationtool 129B. The valve stem cap removal tool 129C includes an end effectormount that couples the valve stem cap removal tool 129C to the endeffector 128 of the at least one robotic arm 126. The valve stem cap2101 may be removed or installed with the wheel 111W mounted in situ onthe vehicle 110 or with the wheel 111W removed from (i.e., located offof) the vehicle 110.

The tire deflation tool 129D has any suitable configuration fordeflating the tire 111T either through the valve stem 2100 or bypuncturing a sidewall of the tire 111T. For non-limiting exemplarypurposes only, the tire deflation tool 129D includes an end effectormount that couples the tire deflation tool 129D to the end effector 128of the at least one robotic arm 126. The tire deflation tool includes asuitable needle or pin that extends from the end effector mount and isconfigured to extend, e.g., through articulation of the at least onerobotic arm, and guided by position information provided by any suitablesensors such as those described herein, into the valve stem 2100 todepress a valve 1910V of a valve core 1910 of the wheel 111W to deflatethe tire 111T mounted to the wheel 111W. In other aspects, the tiredeflation tool 129D has any suitable configuration and/or components fordeflating a tire. In one aspect, the tire deflation tool 129D onarticulation of the at least one robotic arm 126 deflates the tire 111Tmounted to the wheel 111W with the wheel 111W mounted in situ on thevehicle 110; while in other aspects, the tire deflation tool 129D onarticulation of the at least one robotic arm 126 deflates the tire 111Tmounted to the wheel 111W with the wheel 111W removed from (i.e.,located off of) the vehicle 110.

The valve core removal tool 129G also effects deflation of the tire 111Tand/or replacement of a damaged/defective valve core 1910. The valvecore removal tool 129G has any suitable configuration for engaging thevalve core 1910 and removing the valve core 1910 from the valve stem2100. For non-limiting exemplary purposes only, the valve core removaltool 129G includes an end effector mount that couples the valve coreremoval tool 129G to the end effector 128 of the at least one roboticarm 126. The valve core removal tool 129G includes any suitable valvecore engagement that is coupled to the end effector mount to effectunthreading the valve core 1910 from the valve stem 2100 througharticulation of the at least one robotic arm 126, and guided by positioninformation provided by any suitable sensors such as those describedherein. For example, any suitable sensors, such as those describedherein identify the position and orientation of the valve core 1910 andbased on the identified position and orientation, the valve coreengagement is positioned relative to the valve core 1910 througharticulation of the at least one robotic arm 126 to engage the valvecore 1910 to effect removal of the valve core 1910 from the valve stem2100 with the valve core removal tool 129G. Here, the removed valve core1910 may be ejected in any suitable manner (e.g., compressed air, etc.)from the valve core removal tool 129G into any suitable holding bin. Inother aspects, the valve core removal tool 129G has any suitableconfiguration and/or components for removing valve cores from valvestems.

The valve core installation tool 129F is substantially similar to thevalve core removal tool 129G; however, here the valve core engagementunthreads the valve core 1910 from the valve stem 2100. Here, anysuitable sensors, such as those described herein, are employed toidentify a positions and orientations of the valve stem 2100 and a valvecore 1900, where the valve core 1900 is held in any suitable rack 1700accessible to or carried by the bot 120. Based on the identifiedposition and orientation of the valve core 1910, the valve coreinstallation tool 129F, through articulation of the at least one robotarm 126, grips the valve core 1910 and positions the valve core 1910relative to the valve stem 2100 and installs the valve core 1910 intothe valve stem 2100 based on the identified position and orientation ofthe valve stem 2100. In other aspects, the valve core installation tool129F has any suitable configuration and/or components for installingvalve cores to valve stems. The valve core 1910 may be installed orremoved with the wheel 111W mounted in situ on the vehicle 110 or withthe wheel 111W removed from (i.e., located off of) the vehicle 110.

The tire mounting/dismounting tool 129E, has any suitable configurationfor mounting/dismounting (e.g., moving a bead 300 of the tire 111T overa flange 310 of the wheel 111W) to install or remove the tire 11T to orfrom the wheel 111W. For non-limiting exemplary purposes only the tiremounting/dismounting tool 129E includes an end effector mount thatcouples the tire mounting/dismounting tool 129E to the end effector 128of the at least one robotic arm 126. The tire mounting/dismounting tool129E includes a tool head substantially similar to those described inU.S. Pat. No. 5,125,298 (previously incorporated by reference herein) orfound on conventional semi-automated tire mounting machines. The tiremounting/dismounting tool 129E may be positioned relative to the tire111T and wheel 111W for mounting or dismounting a tire 111T to or fromthe wheel 111W through articulation of the at least one robotic arm 126which is guided by sensor information from any suitable sensors such asthose described herein. In other aspects the tire mounting/dismountingtool 129E has any suitable configuration and/or components formounting/dismounting tires. In one aspect, the tire mounting/dismountingtool 129E, on articulation of the at least one robotic arm 126 engagesthe tire 111T of the wheel 111W mounted on the vehicle 110 and effectsmounting of the tire 111T on the wheel 111W and dismounting of the tire111T off the wheel 111W with the wheel 111W mounted in situ on thevehicle 110; while in other aspects, the tire mounting/dismounting tool129E, on articulation of the at least one robotic arm 126 engages thetire 111T of the wheel 111W mounted on the vehicle 110 and effectsmounting of the tire 111T on the wheel 111W and dismounting of the tire111T off the wheel 111W with the wheel 111W removed from (i.e., locatedoff of) the vehicle 110.

The tire bead breaker tool 129H has any suitable configuration forbreaking the bead of the tire 111T from the flange of the wheel 111W.For non-limiting exemplary purposes only the tire mounting/dismountingtool 129E includes an end effector mount that couples the tiremounting/dismounting tool 129E to the end effector 128 of the at leastone robotic arm 126. The tire bead breaker tool 129H includes anysuitable wedges, sliders, or other tire engagements configured to slideor move the tire bead 300 towards a centerline of the wheel 111W (i.e.,in a direction along an axis of rotation 390 of the wheel 111W) toseparate the tire bead 300 from the flange 310 of the wheel 111W. Thetire bead breaker tool 129H is positioned relative to the tire 111T andwheel 111W through articulation of the at least one robotic arm 126,which is guided by sensor information from any suitable sensors such asthose described herein, to effect breaking the tire bead 300. In otheraspects the tire bead breaker tool 129H has any suitable configurationand/or components for breaking the bead of the tire 111T a the term“break the tire bead” is known by those skilled in the art. In oneaspect, the tire bead breaker tool 129H on articulation of the at leastone robotic arm 126 breaks the bead 300 of the tire 111T from the wheel111W with the wheel 111W mounted in situ on the vehicle 110; while inother aspects, the tire bead breaker tool 129H on articulation of the atleast one robotic arm 126 breaks the bead 300 of the tire 111T from thewheel 111W with the wheel 111W removed from (i.e., located off of) thevehicle 110.

The wheel cleaning tool 129I has any suitable configuration for cleaningthe wheel 111W. For non-limiting exemplary purposes only the wheelcleaning tool 129I includes an end effector mount that couples the wheelcleaning tool 129I to the end effector 128 of the at least one roboticarm 126. The wheel cleaning tool 129I includes one or more of brushes,sponges, towels, spray nozzles, etc. that engage the wheel 111W toremove dirt, grime, and grease from the wheel 111W. The wheel cleaningtool 129I is positioned relative to the wheel 111W through articulationof the at least one robotic arm 126, which is guided by sensorinformation from any suitable sensors such as those described herein, toeffect cleaning the wheel 111W. In other aspects the wheel cleaning tool129I has any suitable configuration and/or components for cleaning thewheel. The wheel cleaning tool 129I may clean the wheel 111W with thewheel 111W mounted in situ on the vehicle 110 or with the wheel 111Wremoved from (i.e., located off of) the vehicle 110.

The lug wrench 129J has any suitable configuration for installing orremoving lug bolts 350 or lug nuts 351 from the wheel hub so as toremove or install the wheel 111W and tire 111T (or tire assembly 111)from and to the vehicle 110. In one aspect, the lug wrench 129J may besubstantially similar to those described in U.S. Pat. Nos. 5,125,298 and9,757,828, and United States pre-grant publication 2017/0334073, thedisclosures of which were previously incorporated herein by reference intheir entireties. Here, any suitable sensors, such as those describedherein, are employed to identify positions and orientations of the lugbolts 350 or lug nuts 351. Based on the identified position andorientation of the lug bolts 350 or lug nuts 351, the lug wrench 129J,through articulation of the at least one robot arm 126, threads orunthreads the lug bolts 350 or lug nuts 351 onto the wheel hub of thevehicle 110. In other aspects the lug wrench 129J has any suitableconfiguration and/or components for installing or removing the lug bolts350 or lug nuts 351.

The tire balancing bead dispenser 129K has any suitable configurationfor inserting tire balancing beads inside the tire 111T before the tirebead 300 is seated on the flange 310 of the wheel 111W. For non-limitingexemplary purposes only the tire balancing bead dispenser 129K includesan end effector mount that couples the tire balancing bead dispenser129K to the end effector 128 of the at least one robotic arm 126. Forexemplary purposes only, in one or more aspects, the tire balancing beaddispenser 129K includes any suitable hopper from which loose tirebalancing beads are dispensed into the tire 111T. The tire balancingbead dispenser 129K is positioned relative to the tire 111T and wheel111W through articulation of the at least one robotic arm 126, which isguided by sensor information from any suitable sensors such as thosedescribed herein, to effect dispensing of the tire balancing beads (suchas through a nozzle) into the tire 111T. As another example, in one ormore aspects, the tire balancing bead dispenser 129K includes anysuitable hopper in which pre-packaged bags of tire beads are stored. Inthis example, a robotic arm 126, 126A of the bot 120 is configured toremove an appropriate number of the pre-packaged bags of tire beads fromthe hopper for insertion into the tire 111T without breaking the bags,where the bag breaks apart from vehicle motion (e.g., after the tire isinstalled on the vehicle and the vehicle is driven) releasing the tirebeads, and where the bag disintegrates completely over time. In otheraspects the tire balancing bead dispenser 129K has any suitableconfiguration and/or components for dispensing the tire balancing beadsinto the tire 111T. In one aspect, the tire balancing bead dispenser129K is configured to dispense tire balancing beads into the tire 111Twith the wheel 111W mounted in situ on the vehicle 110 and prior toseating the tire bead 300 of the tire 111T against the wheel 111W; whilein other aspects, the tire balancing bead dispenser 129K is configuredto dispense tire balancing beads into the tire 111T with the wheel 111Wremoved from (i.e., located off of) the vehicle 110 and prior to seatingthe tire bead 300 of the tire 111T against the wheel 111W.

The tire inflation tool 129L has any suitable configuration forinflating tire 111T (which sets the tire bead 300 to the wheel flange310). For non-limiting exemplary purposes only the tire inflation tool129L includes an end effector mount that couples the tire inflation tool129L to the end effector 128 of the at least one robotic arm 126. In oneor more aspects, the tire inflation tool includes a valve nozzlesubstantially similar to a conventional tire inflator that couples withthe valve stem for inflating the tire 111T. As may be realized, acompressed air source (e.g., tank, compressor, etc.) is coupled to thevalve nozzle to provide air (or nitrogen or other gas) to inflate thetire 111T. The tire inflation tool 129L is positioned relative to thevalve stem 2100 through articulation of the at least one robotic arm126, which is guided by sensor information from any suitable sensorssuch as those described herein, to effect inflation of the tire 111T. Inone or more other examples, the tire inflation tool 129L comprises abead blaster nozzle. The bead blaster nozzle is positioned at a seambetween the tire bead and the wheel flange in a manner similar to thatdescribed above. The bead blaster nozzle releases (from the compressedair source noted above) a short but high volume “blast” of gas (air,nitrogen, etc.) inside of the tire at the seam to rapidly inflate thetire and seat the bead against the wheel flange. In one or more otherexamples, the bead blaster nozzle is used in tandem with the valvenozzle where the bead blaster nozzle seats the bead and the valve nozzleadjusts the pressure inside the tire to a predetermined specifiedpressure (such as specified by the vehicle manufacturer or tiremanufacturer). In other aspects the tire inflation tool 129L has anysuitable configuration and/or components for inflating the tire 111T. Inone aspect, the tire inflation tool 129L on articulation of the at leastone robotic arm 126 inflates/seats the bead of the tire 111T mounted tothe wheel 111W with the wheel 111W mounted in situ on the vehicle 110;while in other aspects, the tire inflation tool 129L on articulation ofthe at least one robotic arm 126 inflates/seats the bead of the tire111T mounted to the wheel 111W with the wheel 111W removed from (i.e.,located off of) the vehicle 110.

The tire balancer 129M has any suitable configuration for balancing thewheel assembly 111. For non-limiting exemplary purposes only tirebalancer 129M includes an end effector mount that couples the tirebalancer 129M to the end effector 128 of the at least one robotic arm126. The tire balancer 129M is configured to equalize a combined weightof the tire 111T and the wheel 111W with the tire 111T and wheel 111W(i.e., wheel assembly 111) spinning at wheel operating speeds of about60 mph or greater (in other aspects the operating speeds may be lessthan about 60 mph). In one aspect, the tire balancer 129M is configuredto balance the wheel assembly 111 off of the vehicle 110 and may besubstantially similar to a conventional tire balancer but carried by theat least one robotic arm 126; while in other aspects, the tire balancer129M is configured to balance the wheel assembly 111 on or in situ thevehicle 110 and includes rollers that drive rotation of the wheelsassembly 111 for determining where to place wheel weights, and a wheelweight dispenser (such as one of the robotic arm 126, 126A that pickswheels weights from a hopper and applies them to the wheel in locationsidentified by the tire balancer 129M) to place the wheels weights ontothe wheel 111W. In other aspects the tire balancer 129M has any suitableconfiguration and/or components for balancing the wheel assembly 111.

Referring again to FIGS. 1A-1B and 10 , the tire changing system 100includes a control architecture 1000 having a control console 1010(including suitable processors and memory for controlling aspects of thetire changing system 100 as described herein—noting the memory is anysuitable memory accessible by the processors such as a memory residentwithin the tire changing system 100 or a cloud based memory as describedherein) communicably connected (e.g., wirelessly, through wires, iscarried by, or remotely located) to the devices 1020A-1020 n. In theaspect illustrated in FIGS. 1A-1B the control console 1010 is disposedon the floor 198 and is remotely connected (through wither a wired orwireless connection) to the devices 1020A-1020 n. Referring tocontroller 160 of the bot 120, for exemplary purposes, the controller160 (including suitable processors and memory 161 for controllingoperations of the bot 120 as described herein) is in communication withthe control console 1010 and is communicably connected (e.g.,wirelessly, through wires, is carried by, or remotely located) to thecarriage drive section 121 and the bot drive section 127 so as to effecttraverse of the bot 120 along the traverse path effecting dynamicpositioning of the at least one robotic arm 126 relative to a variableposition of the vehicle 110 with the wheel 111W or tire 111T mountedthereon. For example, in a service facility the vehicle servicetechnician 199 drives the vehicle 110 into a service bay. As may berealized, there is nothing to locate the vehicle 110, in the servicebay, at any particular location (e.g., the vehicle may never be locatedin the same place twice) such as would be the case in a vehicle assemblyline where the vehicle is carried by a conveyor and stopped atdesignated/predetermined positions (with respect to assembly automation)for assembly operations. Moreover, vehicles that are serviced in servicefacilities have varying wheel bases, varying wheel tracks, varying rideheights, varying camber, varying caster, etc. from vehicle to vehicle(e.g., many different makes and models of vehicles are serviced in thesame service bay in any given amount of time one after the other),unlike in a vehicle assembly line where assembly operations areperformed on the same make and model vehicle. As such, in servicefacility operations, within any given service bay (e.g., tire changingstation 101), the vehicle 110 (and the components thereof) has adynamically varying position (that changes from vehicle to vehicle, oreven for the same vehicle each time that vehicle is driven into andparked within the service bay) with respect to the tools/machines withinthe tire changing station 101. Here, the dynamic positioning of the atleast one robotic arm 126 relative to the variable position of thevehicle 110 with the wheel 111W or tire 111T mounted thereon is disposedso that articulation of the at least one robotic arm 126 engages thewheel or tire engagement tool 129 to the wheel 111W or tire 111T on thevehicle 110 in the variable position.

For determining the variable position of the vehicle 110, the automatedtire changing system 100 includes any suitable electromagnetic radiationand/or optical mapping sensors (e.g. laser scanners, 3-D time of flightcameras, etc.) so as to map the tire changing station 101, or at least aportion thereof, for improved automation positioning relative to thevehicle. For example, in one aspect, the automated tire changing system100 includes a vision system 162 having any suitable number of cameras163, 163A, 163B positioned around or within (in some aspects one or moreof the cameras are mounted on the bot 120 as described below) the tirechanging station 101 for detecting and reconstructing the tire changingstation 101 environment to facilitate robotic interaction with vehicle110 where the controller receives information/data from the visionsystem 162 and determines a three-dimensional (3-D) virtual environmentwhere the 3-D virtual environment could represent the tire changingstation 101, in which the bot 120 operates, including a plurality of 3-Dvirtual objects corresponding to respective physical objects (e.g., thevehicle 110, tires 111T, wheels 111W, lift 170, bots 120 and otherfeatures of the tire changing station 101 as described herein) in thephysical environment. The controller could also determine twodimensional (2-D) images of the tire changing station 101 including 2-Ddepth maps. The controller determines portions of the 2-D images thatcorrespond to a given one or more physical objects, such as the bot 120,the tires 111T, and the wheels 111W where 3-D models of the bot 120,tires 111T, and wheels 111W are generated based on the portion and the2-D depth maps. The controller instructs the bot 120 to engage the tires111T and wheels 111W for changing the tires 111T as described herein. Inone aspect, the virtual environment is updated/generated from real timethree dimensional imaging data (e.g. point cloud data) from the visionsystem 162.

The vision system 162, of the automated tire changing system 100,informs and enables the controller 160 so as to provide, real timecommand inputs to the bot(s) 120 that are responsive, in real time tovariances in vehicle 110 position, variances in wheel assembly 111 (andcomponents thereof as described herein) position, variances in tire 111Tposition, variances in wheel position 111W, and variances in positionsother features of the automated tire changing system 100 (referred toherein as “tire changing variances”) so that the bot(s) 120 is/areadaptive in real time resolving tire changing variances, affecting thetire changing process, (automatically and/or incooperation/collaboration with vehicle service technician 199assistance) in a time optimal manner so as to effect the tire changeprocess in time optimal manner. The adaptive tire changing automation,facilitated by the real time vision system assistance, is alsoresponsive to identify and correct deviant tire changing conditions(automatically and/or in cooperation/collaboration with user assist)obstructing or impeding time optimal tire changing process.

The cameras 163, 163A, 163B are configured so as to effectthree-dimensional imaging of each wheel assembly 111 and respectiveportion of the vehicle 110 and track, in the real-time updatedthree-dimensional image, a position of the bot 120 and the assembly anddisassembly (e.g., tire changing) process of the wheel assembly 111(e.g., the wheel 111W, tire 111T, valve stem 2100, valve stem cap 2101,etc.). The cameras 163A-163D (see FIG. 2B) may be placed so as to imagefour corners of the vehicle 110 so as to three dimensionally mapsubstantially an entirety of the tire changing station 10 (e.g., eachcamera has a field of view to image at least two sides of the vehicle110) for resolving the features of the bot 120 and the wheel assemblies111 (and the components thereof). As noted above, the different vehicles110 serviced by the tire changing station 101 are not located in apredetermined location and the position of each vehicle 110 driven intothe tire changing station 101 varies as noted above. The controller 160,based on imaging data obtained from the vision system 162, is configuredto register the variable position of the vehicle 110, register avariable position of the wheel 111W or tire 111T on the vehicle 110(noting the variable position that may change during the tire changingoperation, such as due to vehicle suspension movement, steeringmovement, wheel hub rotation, etc.) defined by the variable position(e.g., record the position within the tire changing station 101 of thevehicle 110, each tire 111T to be changed, and each wheel 111Wcorresponding to the tire 111T to be changed in the memory 161 for lateraccess when commanding bot 120 movements), or register a position of alabel or other marker 377 placed on the wheel 111W or tire 111T by, forexample, the service technician 199. The label or marker 377 is, in oneor more aspects, a removable barcode or symbolic label that is appliedto each wheel 111W (or in some aspects to a fender of the vehicle 110above or adjacent to a respective wheel 111W) to indicate, uponrecognition by one or more of the vision systems described herein, wherethe bot 120 should “look” for each wheel. The label or marker 377reduces time spent by the vision system(s) to scan and identify thewheel assemblies 111 and parts thereof.

In one or more aspects, a vision system 130 is configured notnecessarily to image the bot 120 or surface/tracks upon which the bot120 traverses, but rather the vision system 130 is configured to imagethe wheel 111W and/or tire 111T (e.g., the wheel assembly 111 orcomponents thereof), with the bot 120 making adjustments based oninformation from the vision system 130 in real time. For example, thebot 120 includes the vision system 130, which vision system 130 iscoupled to the controller 160. The vision system 130 includes one ormore cameras 131 mounted to the at least one robotic arm 126 and thecarriage 120C. The vision system 130 and cameras 131 are substantiallysimilar to vision system 162 and cameras 163 described above; however,here the one or more cameras 131 are mounted on the bot 120 for creatingthe 3-D map of at least a portion of the tire changing station 101. Inone aspect, the bot 120 may traverse around the periphery/perimeter (ora portion thereof) of the tire changing station 101 so as to map one ormore sides of the vehicle to effect a tire change as described herein.In other aspects, the vision system 130 may dynamically map a localizedportion of the tire changing station 101 in which the bot 120 operates,where the localized portion of the tire changing station mapped by thevision system 130 is dynamically updated in real time as the bot 120moves within the tire changing station 101. In still another aspect, thevision system 130 may be collaborative with vision system 162 so thatdata from both visions systems 130, 162 is used by the controller 160 toglobally map the entire tire changing station 101 (e.g., from visionsystem 162 data) and locally map a portion of the tire changing station101 (e.g., from vision system 130 data). In one aspect, the controller160, based on imaging data obtained from the vision system 130, isconfigured to register the variable position of the vehicle 110, orregister a variable position of the wheel 111W or tire 111T on thevehicle 110 defined by the variable position (e.g., record the positionwithin the tire changing station 101 of the vehicle 110, each tire 111Tto be changed, and each wheel 111W corresponding to the tire 111T to bechanged in the memory 161 for later access when commanding bot 120movements).

In one aspect, the carriage 120C has any suitable positioning sensors132, and the controller 160 is configured to register the variableposition of the vehicle 110, or register a variable position of thewheel 111W or tire 111T on the vehicle 110 defined by the variableposition based on data from the positioning sensors 132. In one aspect,the positioning sensors may be any suitable sensor including, but notlimited to, sonic sensors, light detection and ranging sensors, or anyother suitable ranging sensors configured to effect determination of aspatial positioning between objects. In one aspect, the positioningsensors 132 may be used in conjunction with one or more of the visionssystems 130, 162; while in other aspects one or more of the visionsystems (such as vision system 130) forms at least one sensor of thepositioning sensors 132.

With reference to FIGS. 1A-1B and 3 , at least one of the vision systems130, 162 is configured to identify a lug pattern 366 (i.e., the layoutof the wheel mounting holes expressed as the number of lugs by thediameter of the imaginary circle 366C formed by the center of the lugs)of the wheel 111W. At least one of the vision systems 130, 162 isconfigured to identify a size (e.g., a head size so as to select acorresponding socket or wrench for removal/installation) of lug bolts350 or lug nuts 351 coupling the wheel 111W to the vehicle 110.Identifying the lug pattern 366 and size of the lug bolts 350 or lugnuts 351 provides for selection of or automated adjustment, for example,the lug wrench 129J to effect removal or installation of the wheel 111W(and wheel assembly 111) from or to the vehicle 110.

With reference to FIGS. 1A-1B and 3 , in one aspect, at least one of thevision systems 130, 162 is configured to, with the controller 160, readtire sidewall information 371 of the tire 111T mounted to the wheel 111W(with the wheel 111W mounted in situ on the vehicle 110 or removed from(i.e., located off of) the vehicle 110) to identify tire information(e.g., tire size, max inflation pressure, speed rating, direction ofrotation, etc.) and/or department of transportation (DOT)codes/information. Identification of the information provides forselection of and verification of a replacement tire for installation onthe wheel 111W. In one aspect, at least one of the vision systems 130,162 is configured to, with the controller 160, identify a make and modelof the vehicle 110 to effect retrieval of original equipment (OEM) tireinformation for the vehicle 110 from a memory (e.g., stored in adatabase within memory 161 or a memory otherwise accessible by thecontroller 160). Identification of the vehicle make and model andretrieval of the OEM tire information provides for selection of andverification of a replacement tire 111TN for installation on the wheel111W. In one aspect, at least one of the vision systems 130, 162 isconfigured to, with the controller 160, inspect the wheel 111W for oneor more of damage 333 (FIG. 3 ; e.g., bent wheel flanges, cracks, etc.)and corrosion 334 (FIG. 3 ; e.g., pitting, rust, etc.) so that the wheelis cleaned, repaired, or replaced depending on an extent of the damageand/or corrosion. One or more of the above “inspections” may beperformed during a tire change with the wheel 111W mounted in situ onthe vehicle 110 or with the wheel 111W removed (i.e., located off of)from the vehicle 110.

In one aspect, at least one of the vision systems 130, 162 is configuredto, with the controller 160, read tire sidewall information 371, whichin one or more aspects includes department of transportation (DOT)codes/information, of a replacement or new tire 111TN to verify thereplacement or new tire 111TN is a correct size based on one or more ofthe identified tire information and the original equipment tireinformation. In one aspect, at least one of the vision systems 130, 162is configured to, with the controller 160, read tire sidewallinformation 371 of the replacement or new tire 111TN to verify arotation direction of the replacement or new tire so that thereplacement or new tire 111TN is installed properly on the vehicle 110.In one or more aspects, the department of transportation (DOT)codes/information read by the vision system is associated with thevehicle 110 on which the tires are mounted and stored in any suitabledatabase, such as for example a database in memory 161 (or othersuitable memory) in associated with the vehicle information (e.g.,vehicle identification number, make, model, etc.),

Referring to FIGS. 1A-1B and 2A, and as noted above, the bot 120traverses the floor 198, in one or more aspects, without physicalconstraints (e.g., the carriage 120C is configured for autonomousguidance and unrestricted traverse on an undeterministic surface 198S ofthe traverse surface or the floor 198). FIG. 2A illustrates an examplewhere two bots 120 are illustrated (in other aspects there may be moreor less than two bots 120) traverse the floor 198 without physicalconstraints and along a traverse path 299. The traverse path 299 may bedefined in any suitable manner such as with one or more guidelines 233,234 disposed on the floor 198. In one aspect, the positioning sensors132 on the carriage 120C include line following sensors configured toidentify the guidelines 233, 234 so that the bot 120, under control ofcontroller 160, travels the traverse path 299 along the guideline(s)233, 234. In the example shown in FIG. 2A the traverse path 299 extendsaround a perimeter of the tire changing station 101 so as to extendaround and allow for bot 120 travel around all four sides of the vehicle110. In other aspects, the bot(s) 120 are configured to traverse alongthe traverse path 299 using any suitable form of navigation. Forexample, referring also to FIGS. 5-8 , in one aspect the bot 120includes a navigation system 133 configured for one or more ofsimultaneous location and mapping (SLAM) navigation, beacon navigation,markers and beacon navigation, and ad hoc route marker navigation.

Referring also to FIG. 5 , in one aspect the navigation system 133includes a SLAM navigation system that provides the bot 120 a globalcoordinate or reference frame REF with respect to the tire changingstation 101. Here the bot 120 guidance is effected through a coordinatesystem that lacks physical markers or beacons.

Referring also to FIGS. 6-8 , in one aspect, the navigation system 133includes one or more of a marker detecting sensor(s) 133A and/or abeacon sensor(s) 133B. In one aspect the marker detecting sensor(s) 133Aare configured to detect the position of a marker such as aretro-reflective tape (or other suitable marker such as a capacitive orinductive marker or other optical marker (referred to as markers 712)including but not limited to barcodes that in one aspect form one ormore guidelines 233, 234) laid on the floor 198 (e.g. on theundeterministic traverse surface of the floor) and/or on any othersuitable surface such as the walls of the service facility and/or on thevehicle 110 or other components of the tire changing station 101 (e.g.,such as on automated or semi-automated tire changing machines 182 andautomated or semi-automated tire balancing machines 183, tire storageracks/carts 187, etc.). In one aspect the marker detecting sensor(s)133A include one or more of a photodiode-based sensor, one or moreradiation sources (e.g., LEDs), inductive sensors, capacitive sensors,barcode reader, etc. to detect the marker. In one aspect the beaconsensor 133B includes any suitable transmitter and/or receiver configuredto actively or passively detect any suitable radio frequency beacons 612(or other suitable beacon such as an infrared, laser or other opticalbeacon). As can be seen in FIG. 6 , for example, the navigation system133 includes a plurality of active (e.g. having a radio frequency orother (e.g., infrared) beacon transmitter) or passive (e.g. configuredto passively return a signal) beacons or tags 612 that are located atany suitable location of the tire changing station 101 (e.g., such as onautomated or semi-automated tire changing machines 182 and automated orsemi-automated tire balancing machines 183, tire storage racks/carts187, etc.). In this case, the beacon sensor(s) 133B are configured todetect signals from beacons or detect the beacons themselves forlocating the bot 120 relative to the vehicle 110 or any other componentof the tire changing station 101 (e.g., such as other bots 120,automated or semi-automated tire changing machines 182 and automated orsemi-automated tire balancing machines 183, tire storage racks/carts187, etc.). By way of example, where beacons 612 are used, each bot 120should secure a line of sight to one or more beacons 612, for example,an origin and/or destination beacon could be visible (either opticallyor through radio waves) to the bot 120 for at least a period of time.The bot 120 moves directly from one beacon (e.g. the origin beacon)toward the other (e.g. the destination beacon) unless an obstacleintervenes at which time the bot positioning sensors 132 or visionsystem 130 may provide the controller with suitable data for avoidingthe obstacle and continuing along the traverse path 299. In one aspecteach beacon 612 establishes a respective coordinate system, where thebeacon is the origin of the respective coordinate system. Angularencoding (or any other suitable encoding) is employed to specify theaxes of the beacon coordinate system. Angle encoding can also enableother useful properties.

Referring to FIG. 7 , in one aspect, the navigation system 133 includesshorter range active or passive beacons 612 (which are substantiallysimilar to those described above) and pathways established by anysuitable markers 712 (such as those described above) attached to, forexample, the floor and/or other suitable surface such as walls of theservice facility and/or on the vehicle 110 and/or other components ofthe tire changing station 101 (e.g., such as on automated orsemi-automated tire changing machines 182 and automated orsemi-automated tire balancing machines 183, tire storage racks/carts187, etc.), so that the bot(s) 120 are provided with a rough globalreference frame REF. Here the beacon 612 and marker 712 arrangementsimplifies sensor range requirements compared to SLAM navigation.

Referring also to FIG. 8 the navigation system 133 includes, in oneaspect, an ad hoc marker system including one or more markers 816 laidon the floor and/or other suitable surface (such as walls of the servicefacility and/or on the vehicle 110 or other components of the tirechanging station 101 (e.g., such as on automated or semi-automated tirechanging machines 182 and automated or semi-automated tire balancingmachines 183, tire storage racks/carts (also referred to as supplycarts) 187, etc.)), in some cases temporarily. A route marker 816indicating a bot 120 traverse path 299 is employed in situations whereeither a line of sight between beacons does not exist or traveling in astraight path between beacons is not desired. For example, a routemarker enables a bot 120 to avoid an obstacle within the tire changingstation 101. As may be realized, the bot 120 can illuminate, forexample, a tape or line using, e.g., conventional infrared (IR) lightemitting diodes (LEDs). In one aspect, the bot 120 detects the tape orline using a position-sensitive detector (e.g., of the positioningsensors 132) composed of discrete components (i.e., not a camera) toservo on the tape or line. The detector measures the degree ofretro-reflectivity in view to eliminate false positives. In one aspect,the bot 120 servo on the line directly. In one aspect, the bot 120 canservo at any selected offset with respect to the line. Offset servoingenables two important properties. When placing the line to mark the bot120 traverse path 299, vehicle service technicians 199 need not allowspace between the line and objects (such as the vehicle, semi-autoautomated or mated tire changing machine 182, automated orsemi-automated tire balancing machine 183, etc.). Any time the bot 120finds its path partially blocked by an object, the bot 120 will increaseits offset from the line so that it can follow the line withoutcolliding with the object. A second feature enabled by offset followingallows two bots 120 that meet while traveling along the line in oppositedirections to avoid collision. When the bots 120 determine that acollision is imminent, each can offset its position relative to theline. The bots 120 can thus pass without obstructing each other.

As may be realized, in one aspect the bot(s) 120 employs one or more ofthe navigation systems described herein for navigating the tire changingstation 101 and transporting tires 111T, wheel assemblies 111, wheels111W, etc. from one location to another. In other aspects, the bots 120include any suitable locating system, such as internal GPS that locatesthe bot 120 within the tire changing station 101 space such that the bot120 and/or controller 160 knows where the location and pose of the bot120 is within the tire changing station 101 as desired.

In one or more aspects, referring to FIG. 2D, navigation of the bot 120is simplified by providing one or more rails or tracks 236 andconfiguring the carriage 120C to travel along the rails 236. Forexample, referring to FIGS. 1A-1B and 2D, the bot 120 traverses therails 236 which are disposed along one or more sides of the vehicle 110.In one or more aspects, carriage 120C is configured as a multi-stagecarriage (in a manner similar to that described above) that moves as aunit (i.e., all stages of the multi-stage carriage move together) indirection 237 along the rail(s) 236 and a stage of the carriage 120Cmoves in direction 238 in a direction transverse to the rail(s) 236 sothat the at least one robotic arm 126 is moved, by the stage towards andaway from the vehicle independent of movement of the at least onerobotic arm 126. FIG. 2D illustrates an example where two bots 120 areillustrated (in other aspects there may be more or less than two bots120) traversing the floor 198 along the traverse path 299 and beingguided by rail(s) 236. In this aspect, the traverse path 299 is definedby the rail(s) 236. In the example shown in FIG. 2D the traverse path299 extends around a perimeter of the tire changing station 101 so as toextend around and allow for bot 120 travel around all four sides of thevehicle 110.

Referring to FIGS. 1A-1B, 2B, and 2C, in one aspect, as noted above, thebot(s) 120 are configured to traverse along the traverse path 299 viaphysical constraints (e.g., the carriage 120C is rail or track guided).Non-limiting examples of the tire changing station 101 with bots 120having carriages 120C that are track guided as shown in FIGS. 2B and 2C.In FIG. 2B, the tire changing station 101 includes sets of tracks 222A,222B extending along the driver and passenger sides of the vehicle 110.Each set of tracks 222A, 222B has two bots 120 disposed thereon (inother aspects there may be more or less than two bots 120) fortravelling along a respective traverse path 299 defined by therespective set of tracks 222A, 222B. In this aspect, the tire changingsystem 100 includes supply carts 187 (which will be described in greaterdetail herein) on which tires (replacement tires or tires removed fromthe vehicle) are stored. The bots 120 are configured to pick and placetires 111T from and to the supply carts 187 for effecting a tire change.The bots 120 in this example (as well as the other examples describedherein where there are multiple bots 120) are, in one aspect, configuredto collaboratively work with each other such as to pass tires 111T fromthe carts 187 to bots 120 that may not have access to the carts 187 dueto, for example, a configuration of the tracks 222A, 222B (or for anyother suitable collaborative tire changing tasks).

FIG. 2C illustrates a tire changing station 101 having a single bot 120(in other aspects there may be more than one bot 120) traversing along aset of tracks 222 that extends along both the passenger and driver sidesof the vehicle 110 allowing the single bot 120 to change all fourvehicle tires. Referring also to FIGS. 1A-1B, in this example the tirechanging system 100 includes automated or semi-automated tire changingmachine(s) 182 and automated or semi-automated tire balancing machine(s)183 where the bot 120 is configured to remove a wheel assembly 111 fromthe vehicle and transport the wheel assembly 111 to the tire changingmachine 182. Here, the end effector 128, with the wheel or tireengagement tool 129 coupled thereto, on articulation of the at least onerobotic arm 126 is configured to place the wheel 111W, with the tire111T mounted thereto, on the automated (or semi-automated) tire changingmachine. In the case of removing the tire 111T from the wheel 111W, thebot end effector 128 is configured to remove the tire 111T (e.g., a usedor old tire 111TU), uninstalled from the wheel 111W by the automated (orsemi-automated) tire changing machine 182, from the tire changingmachine 182. In the case of installing the tire 111T to the wheel 111W,the end effector 128 is configured to place another tire 111T (e.g., areplacement tire 111TN) on the automated (or semi-automated) tirechanging machine 182 for installation of the other tire 111TN to thewheel 111W by the tire changing machine 182. The end effector 128, withthe wheel or tire engagement tool 129 coupled thereto, on articulationof the at least one robotic arm 126 is configured to place the wheel111W, with the other tire 111TN mounted thereto, on the automated (orsemi-automated) tire balancing machine 183. Here, in one or moreaspects, one of the robotic arms 126, 126A picks wheels weights from ahopper and applies them to the wheel in locations identified by the tirebalancing machine 183. Once balanced the wheel assembly 111 may beinstalled on the vehicle 110 by the bot 120.

As may be realized (and shown in FIGS. 1A-1B, 2A, and 5-8 ) the tirechanging system 100 is configured, in some aspects, to provide both insitu tire changes with the wheel 111W mounted in situ on the vehicle 110and tire changes performed by the tire changing machine(s) 182 and tirebalancing machine(s) 183 with the wheel 111W removed (i.e., located offof) the vehicle 110. The configuration of the tire changing system 100between in-situ tire changes and tire changes with the wheel 111Wremoved from the vehicle may be effected through the control console1010. For example, as noted above, the vehicle service technician 199may select an in-situ tire change and/or a tire change with the wheel111W removed from the operator graphical user interface 1004. Theoperator graphical user interface 1004, in one aspect, is alsoconfigured to allow the vehicle service technician 199 to select whichtires (e.g., passenger front, passenger rear, drive front, or driverear) are to be changed in-situ or by removing the wheel 111W so thatin-situ and removed wheel tire changes are performed on a commonvehicle.

The control console 1010 is also configured, such as through inputs onthe operator graphical user interface 1004, so that the vehicle servicetechnician 199 selects which tire change operations are to be performed.For example, the vehicle service technician 199 may select, and thecontrol console 1010 is configured to effect such selection, a type ofbalancing to be performed on a tire (e.g., wheel weights, tire beads,etc.), whether a valve core is replaced, which tires are to be replaced,the make/model/size of tire to be installed, whether some tire changeoperations are to be performed manually or in a semi-autonomous manner,etc. In some aspects, there are pre-programmed tire change routines 1061corresponding to a respective type of vehicle (car, truck, sports car,make, model, etc.), a respective type of wheel or tire, and or arespective customer that are stored in a memory such as database 1060.These pre-programmed tire change routines 1061 are selectable by thevehicle service technician 199 through, for example, the operatorgraphical user interface 1004 and specify a tire change recipe (whichtire change processes are to be performed and whether or not one or moretires are changed in-situ or changed by removing the wheel).

Referring to FIGS. 1A-1B, 2A-2C, and 5-8 , in one aspect, the automatedtire changing system 100 includes supply carts 187 configured to holdtires 111T, wheels 111W, and or wheel assemblies 111. In one or moreaspects, one or more of the supply carts 187 are manual carts that aremoved from location to location by, for example, the vehicle servicetechnician 199. In one or more other aspects, one or more of the carts187 is an automated cart having a cart drive section 188, where the cartincludes a controller 160′ and memory 161′, vision system 130′,positioning sensors 132′, and navigation system 163′, which aresubstantially similar to the controller 160 and memory 161, visionsystem 130, positioning sensors 132, and navigation system 133 of thebot 120 (noting that manual and automated carts can be used alongsideeach other). Here, the cart autonomously navigates throughout the tirechanging station 101 in a manner substantially similar to that describedabove with respect to bot 120. In still other aspects, one or more ofthe carts 187 (such as the manual cart) is configured to be towed by abot 120 or an automated cart to a predetermined location within the tirechanging station 101.

Referring to FIGS. 1A-1B and 4 , the lift 170 of the automated tirechanging system 100 is configured to adjust for the variable position ofthe vehicle 110 as the vehicle is driven into the tire changing station101. For example, the lift 170 may be a conventional two post lift orother vehicle lift having adjustable arm/supports that are variablypositioned underneath the vehicle so that when the lift 170 is actuatedthe lift 170 moves the vehicle in a vertical direction to raise thetires 111T of the vehicle 110 off of the traverse surface or the floor198 so as to effect changing of the tire(s) 111T. In other aspects, asillustrated in FIG. 4 , the lift 170 comprises a set of ramps 400A, 400Blocated within the tire changing station 101. The vehicle 110 is drivenonto the ramps 400A, 400B and vehicle supports 401, 402 (only two areshown, although at least four are used) are positioned underneath thevehicle 110. The vehicle supports 401, 402 are any suitable vehiclesupports such as jack stands, inflatable air bladders/bags, pneumatic orhydraulic jacks, etc. configured to support the weight of the vehicle110. Each ramp 400A, 400B includes a plurality of retractable vehiclesupports 450A-450 n (where “n” denotes an integer larger than 1 thatsets an upper bound to the number of retractable vehicle supports)arrayed along the length L of the respective ramp 400A, 400B. Each ofthe retractable vehicle supports 450A-450 n is manually or automaticallyretractable so as to move vertically downward away from a respectivetire 111T so as to remove a normal force exerted on the tire 111T by atire support surface 407 of the ramps 400A, 400B so as to distance thetire 111T from the tire support surface 407 and effect changing of thetire. As can be seen in FIG. 4 , the array of retractable vehiclesupports 450A-450 n is such that one or more retractable vehiclesupports 450A-450 n is positioned underneath a tire with the vehicle 110at any position along the length L of the ramps 400A, 400B (i.e., thevehicle can be variably positioned anywhere along the ramps 400A, 400B).The one or more retractable vehicle supports 450A-450 n positionedunderneath any one of the vehicle tires can be retracted to effectchanging of that tire. The ramps 400A, 400B have a height H that placesthe vehicle at any suitable vertical position accessible by the bots120, which may be lower than a height of the vehicle required formanually changing the tires.

As may be realized, the automated tire changing system 100, in one ormore aspects, includes fencing or other barriers 227 (see FIG. 2B) tosubstantially isolate the vehicle service technician 199 from the bots120 and automated supply carts 187 when in operation. In some aspects,the barriers 227 have any suitable interlock devices that terminatepower to specific axes of motion or all axes of motion of the bot 120(and any other automation of the tire changing system 100) upon openinga door to the barrier 227 and/or entering the barrier 227. In otheraspects, the bots 120 and automated supply carts 187 are configured tocollaboratively operate with the vehicle service technician 199 so as tohand off tires 111T, wheels 111W, wheel assemblies 111, etc. to/from thevehicle service technician 199.

The control architecture 1000 of the tire changing system 100 isconfigured to provide for the addition or removal of tire change devices1020A-1020 n and/or service bays in a plug-and-play type manner. Forexample, the tire change system 100 is scalable so that as servicefacility demand increases (or for any other reason) additional bots 120,supply carts 187, barriers and other devices 1020A-1020 n as describedherein can be added to tire changing station 101 to increase throughoutwithout changing the control architecture and providing a centralizedcontrol of the devices 1020A-1020 n. As an example, the control console1010 and the devices are configured with a pairing communication mode sothat the control console 1010 detects new (to be added) devices1020A-1020 n where upon detection, the control console 1010 receivesdevice type and device configuration information from the device1020A-1020 n and registers the device 1020A-1020 n for use in the tirechanging system 100. The sensors onboard the devices 1020A-1020B and/orvision system 162 may facilitate calibration and/or collaborativeoperation of the newly added device 1020A-1020 n within the tirechanging system 100. Additional tire changing stations 101 can be addedto the control console 1010 in a similar manner, such as by selecting an“add tire changing station 101” feature of the operator graphical userinterface 1004 and then making the devices of the new (to be added) tirechanging station discoverable to the control console by employing thepairing communication mode, where the devices are registered andassociated with the new tire changing station. In other aspects, wheredesired, each tire changing station 101 may have a respective controlconsole 1010.

In accordance with aspects of the present disclosure a tire changemethod will be described with reference to FIGS. 1A-1B, 3, 4, and 9A-9C.In some aspect, the method includes arresting or otherwise preventingrotation of the wheel hubs of the vehicle so that the wheel assemblies111 or tires 111T can be removed. Preventing wheel hub rotation may beaccomplished in any suitable manner, such as with any suitablemechanical device that actuates the braking system of the vehicle orotherwise bars or stops wheel rotation on the vehicle 110. In otheraspects, the drive train of the vehicle prevents rotation of the wheelhubs without using the mechanical device noted above. At least one bot120 as described above is provided (FIG. 9A, Block 900). In one or moreaspects, one or more of cart (s) 187, tire balancing machine(s) 183,tire changing machine(s) 182, lift(s) 170, and vision system(s) 162 areprovided (i.e., one or more of the tire changing station(s) 101described above is/are provided). The bot 120 traverses (FIG. 9A, Block901) along the traverse path 299, with the controller 160 communicablyconnected to the carriage drive section 121 and the bot drive section127, to effect dynamic positioning of the at least one robotic arm 126relative to a variable position of the vehicle 110 with the wheel 111Wor tire mounted 111T thereon. In one aspect, the tire(s) 111T of thevehicle 110 are raised off of the traverse surface or the floor 198(FIG. 9A, Block 902) so as to effect changing of the tire(s) 111T asdescribed above. In other aspects, a normal force exerted on the tire111T by the tire support surface 407 is removed (FIG. 9A, Block 903) soas to distance the tire 111T from the tire support surface 407 andeffect changing of the tire as described above.

The variable position of the vehicle, or a variable position of thewheel or tire on the vehicle defined by the variable position isregistered (FIG. 9A, Block 904) with the controller 160 and at least thepositioning sensors 132 of the carriage 120C (in some aspects thevisions system(s) 162 130 are also used to determine the variableposition(s) and effect registration of the variable position(s) with thecontroller 160 as described above). In one or more aspects, the tirechanging method includes reading tire sidewall information 371 of thetire 111T mounted to the wheel 111W (FIG. 9A, Block 905) to identifytire information (as described herein using one or more of the visionssystem(s) 130, 162) with the wheel 111W mounted in situ on the vehicle110 or with the wheel 111W removed from the vehicle 110. In one or moreaspects, the tire changing method includes identifying a make and modelof the vehicle 110 to effect retrieval of original equipment (OEM) tireinformation for the vehicle 110 (FIG. 9A, Block 906) from the memory 161accessible by the controller 160 (as described herein and using one ormore of the vision systems 130, 162).

The at least one robotic arm 126 is articulated, under control of thecontroller 160, with the bot arm degree of freedom effecting engagementcontact of the wheel or tire engagement tool 129 and the wheel 111W orthe tire 111T mounted on the vehicle 110 so as to effect changing thetire 111T with the bot 120 (FIG. 9 , Block 907). As may be realized fromthe present disclosure, a tire change can be performed with the wheel111W mounted in situ on the vehicle or with the wheel 111W removed fromthe vehicle. For example, with the wheel 111W mounted in situ on thevehicle 110, the tire 111T is dismounted from the wheel (FIG. 9B, Block908) by the bot 120 using the at least one wheel or tire engagement tool129 (such as the tire mounting/dismounting tool 129E). To dismount thetire 111T the tire is deflated (FIG. 9B, Block 915) with, for example,the tire deflation tool 129D and the bead 300 of the tire 111T is brokenfrom the wheel 111W (FIG. 9B, Block 916) with, for example, tire beadbreaker tool 129H. As may be realized, in some aspects, deflation of thetire includes valve stem cap removal and/or valve core removal asdescribed herein.

In one or more aspects, prior to or after removal of the tire 111T fromthe wheel 111W, the wheel is inspected for damage 333 and/or corrosion334 (FIG. 9B, Block 909) as described herein, using for example one ormore of the vision systems 130, 162. In one or more aspects, the wheel111W is cleaned (FIG. 9B, Block 910) with, for example, wheel cleaningtool 129I.

In one or more aspects, tire sidewall information 371 of the new orreplacement tire 111TN is read to verify a size, speed rating, rotationdirection, and/or department of transportation (DOT) codes/informationof the tire 111TN (i.e., to verify the new or replacement tire is acorrect tire for the vehicle 110) (FIG. 9B, Block 912) using, forexample, one or more of the vision systems 130, 162. The tire 111TN ismounted on the wheel 111W (FIG. 9B, Block 913) by the bot 120 using, forexample, tire mounting/dismounting tool 129E. Mounting the tire 111TN tothe wheel 111W includes, in some aspects, inflating the tire, such aswith tire inflation tool 129L. In one or more aspects, mounting the tire111TN to the wheel 111W includes valve stem cap installation and/orvalve core installation as described herein. Where the wheel assembly111 is to be balanced using tire balancing beads, the tire balancingbeads are inserted by the bot 120 into the tire 111TN (with the tire111TN on the wheel 111W but the tire bead 300 not being seated) orbefore the tire is mounted to the wheel (FIG. 9B, Block 911); otherwisethe wheel assembly 111 is balanced (FIG. 9B, Block 914) by the bot 120by rotating the wheel assembly 111 and applying wheel weights asdescribed herein, using for example, tire balancer 129M.

Where the tire change occurs with the wheel 111W off of the vehicle 110,one or more of the vision systems 130, 162 identify one or more of thelug pattern 366 and the size of the lug bolts 350 or lug nuts 351 (FIG.9C, Block 917) so that the lug bolts 350 or lug nuts 351 are removed(FIG. 9C, Block 918) using, for example, lug wrench 129J. The wheel111W, with the used or old tire 111TU mounted thereto is removed fromthe vehicle 110 (FIG. 9C, Block 919), such as with wheel assembly grip129A. In one aspect, the removed wheel assembly 111 is placed, by thebot 120, on an automated or semi-automated tire changing machine 182(FIG. 9C, Block 920) where the old tire 111TU is dismounted from thewheel 111W. The bot 120 removes the uninstalled tire 111TU from thewheel 111W (FIG. 9C, Block 921) and retrieves the new or replacementtire 111TN from cart 187 or any other suitable tire holding area. Thenew tire 111TN is placed on the wheel, at the automated orsemi-automated tire changing machine 182 (FIG. 9C, Block 923) and thetire 111TN is mounted to the wheel 111W and inflated (FIG. 9C, Block925) to form the wheel assembly 1111. In one aspect, the bot 120transfers the wheel assembly 111 from the tire changing machine 182 tothe tire balancing machine 183 (FIG. 9C, Block 924) where the wheelassembly 111 is rotated and wheel weights are applied by the vehicleservice technician 199 or by the bot 120 (as described herein); while inother aspects, where the tires are to be balanced using tire balancingbeads, the bot 120 inserts tire balancing beads (either loose tirebalancing beads or prepackaged beads as described herein) into the tire111TN prior to the tire 111TN being mounted on the wheel 11W by the tirechanging machine 182. The bot 120 transfers the balanced wheel assembly111 to the vehicle 110 and installs the wheel assembly 111 to thevehicle 110 (FIG. 9C, Block 926), where the lug bolts 350 or lug nuts351 are installed (FIG. 9C, Block 927) by the bot 120. The method isperformed or repeated as necessary to change one or more tires of thevehicle 110.

In accordance with one or more aspects of the present disclosure anautonomous traverse tire changing bot comprises:

-   -   a carriage having:    -   a carriage frame,    -   wheels supporting the carriage frame, and    -   a carriage drive section with at least one motor defining at        least one degree of freedom powering at least one of the wheels        effecting autonomous traverse of the carriage, along a traverse        path, relative to a traverse surface or a floor on which the        autonomous traverse tire changing bot rests;    -   a bot frame including:    -   at least one robotic articulated arm mounted to the carriage so        that the bot frame traverses with the carriage as a unit along        the traverse path, and    -   a bot drive section with a motor defining a bot arm degree of        freedom, separate and distinct from the at least one degree of        freedom,    -   wherein the at least one robotic articulated arm has an end        effector having a wheel or tire engagement tool disposed so that        articulation of the at least one robotic articulated arm with        the bot arm degree of freedom effects engagement contact of the        wheel or tire engagement tool and a wheel or a tire mounted on a        vehicle; and    -   a controller communicably connected to the carriage drive        section and the bot drive section so as to effect traverse of        the autonomous traverse tire changing bot along the traverse        path effecting dynamic positioning of the at least one robotic        articulated arm relative to a variable position of the vehicle        with the wheel or tire mounted thereon.

In accordance with one or more aspects of the present disclosure thedynamic positioning of the at least one robotic articulated arm relativeto the variable position of the vehicle with the wheel or tire mountedthereon is disposed so that articulation of the at least one roboticarticulated arm engages the wheel or tire engagement tool to the wheelor tire on the vehicle in the variable position.

In accordance with one or more aspects of the present disclosure thecarriage is track guided.

In accordance with one or more aspects of the present disclosure thecarriage is configured for autonomous guidance and unrestricted traverseon an undeterministic surface of the traverse surface or the floor.

In accordance with one or more aspects of the present disclosure thecarriage has positioning sensors, and the controller is configured to:

-   -   register the variable position of the vehicle,    -   register a variable position of the wheel or tire on the vehicle        defined by the variable position, or    -   register a position of a label or other marker placed on the        wheel or tire.

In accordance with one or more aspects of the present disclosure an armarticulation axis defined by articulation of the at least one roboticarticulated arm with the bot arm degree of freedom is separate anddistinct from the traverse path.

In accordance with one or more aspects of the present disclosure the atleast one robotic articulated arm includes more than one robotic arm,each of the more than one robotic arm having a different respective armarticulation axis, and a different respective end effector disposed forworking on the wheel or tire mounted on the vehicle.

In accordance with one or more aspects of the present disclosure the atleast one wheel or tire engagement tool is a tire mounting/dismountingtool that on articulation of the at least one robotic articulated armengages the tire of the wheel mounted on the vehicle and effectsmounting of the tire on the wheel and dismounting of the tire off thewheel with the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure theautonomous traverse tire changing bot further comprises at least onevision system coupled to the controller, the vision system beingconfigured to one or more of:

-   -   identify a location and orientation of one or more of the wheel        and tire;    -   read tire sidewall information of the tire mounted to the wheel        to identify tire information with the wheel mounted in situ on        the vehicle;    -   identify a make and model of the vehicle to effect retrieval of        original equipment tire information for the vehicle from a        memory accessible by the controller;    -   inspect the wheel for one or more of damage and corrosion with        the wheel mounted in situ on the vehicle;    -   read tire sidewall information of a replacement or new tire to        verify the replacement or new tire is a correct size based on        one or more of the identified tire information and the original        equipment tire information;    -   read tire sidewall information of a replacement or new tire to        verify department of transportation codes or information, where        the department of transportation codes or information is stored        in a database or memory in association with identifying        information of the vehicle; and    -   read tire sidewall information of a replacement or new tire to        verify a rotation direction of the replacement or new tire.

In accordance with one or more aspects of the present disclosure the endeffector includes a tire deflation tool that on articulation of the atleast one robotic articulated arm deflates the tire mounted to the wheelwith the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure the endeffector comprises a valve stem cap removal tool.

In accordance with one or more aspects of the present disclosure the endeffector further comprises a valve core removal tool.

In accordance with one or more aspects of the present disclosure the endeffector comprises a tire bead breaker tool that on articulation of theat least one robotic articulated arm breaks a bead of the tire from thewheel with the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure the endeffector is configured to clean the wheel with the wheel mounted in situon the vehicle.

In accordance with one or more aspects of the present disclosure the endeffector includes a tire balancer configured to equalize a combinedweight of the tire and the wheel with the tire and wheel spinning atoperating speeds and with the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure the endeffector includes a tire balancing bead dispenser configured to dispensetire balancing beads into the tire with the wheel mounted in situ on thevehicle and prior to seating a tire bead of the tire against the wheel.

In accordance with one or more aspects of the present disclosure the endeffector includes a tire inflation tool that on articulation of the atleast one robotic articulated arm inflates the tire mounted to the wheelwith the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure the endeffector further comprises a valve core installation tool.

In accordance with one or more aspects of the present disclosure the endeffector comprises a valve stem cap installation tool.

In accordance with one or more aspects of the present disclosure theautonomous traverse tire changing bot further comprises at least onevision system coupled to the controller, the vision system beingconfigured to one or more of:

-   -   identify a location and orientation of one or more of the wheel        and tire;    -   read tire sidewall information of the tire mounted to the wheel        to identify tire information;    -   identify a make and model of the vehicle to effect retrieval of        original equipment tire information for the vehicle from a        memory accessible by the controller;    -   inspect the wheel for one or more of damage and corrosion;    -   read tire sidewall information of a replacement or new tire to        verify the replacement or new tire is a correct size based on        one or more of the identified tire information and the original        equipment tire information;    -   read tire sidewall information of a replacement or new tire to        verify department of transportation codes or information, where        the department of transportation codes or information is stored        in a database or memory in association with identifying        information of the vehicle; and    -   read tire sidewall information of a replacement or new tire to        verify a rotation direction of the replacement or new tire.

In accordance with one or more aspects of the present disclosure the endeffector includes a tire deflation tool that on articulation of the atleast one robotic articulated arm deflates the tire mounted to thewheel.

In accordance with one or more aspects of the present disclosure the endeffector comprises a valve stem cap removal tool.

In accordance with one or more aspects of the present disclosure the endeffector further comprises a valve core removal tool.

In accordance with one or more aspects of the present disclosure the endeffector comprises a tire bead breaker tool that on articulation of theat least one robotic articulated arm breaks a bead of the tire from thewheel.

In accordance with one or more aspects of the present disclosure the endeffector is configured to clean the wheel.

In accordance with one or more aspects of the present disclosure theautonomous traverse tire changing bot further comprises at least onevision system coupled to the controller, the vision system beingconfigured to identify:

-   -   a lug pattern of the wheel; and    -   a size of lug bolts or lug nuts coupling the wheel to the        vehicle.

In accordance with one or more aspects of the present disclosure the endeffector comprises a lug wrench configured to one of both remove andinstall the lug bolts or lug nuts.

In accordance with one or more aspects of the present disclosure the endeffector includes a tire inflation tool that on articulation of the atleast one robotic articulated arm inflates the tire mounted to thewheel.

In accordance with one or more aspects of the present disclosure the endeffector further comprises a valve core installation tool.

In accordance with one or more aspects of the present disclosure the endeffector comprises a valve stem cap installation tool.

In accordance with one or more aspects of the present disclosure the endeffector includes a tire balancer configured to equalize a combinedweight of the tire and the wheel with the tire and wheel spinning atoperating speeds.

In accordance with one or more aspects of the present disclosure the endeffector includes a tire balancing bead dispenser configured to dispensetire balancing beads into the tire prior to seating a tire bead of thetire against the wheel.

In accordance with one or more aspects of the present disclosure the atleast one robotic articulated arm is configured to install the tire andwheel on the vehicle with the tire balancing beads disposed within awheels assembly formed by the wheel and the tire mounted to the wheel.

In accordance with one or more aspects of the present disclosure the endeffector includes a wheel assembly grip that on articulation of the atleast one robotic articulated arm removes the wheel, with the tiremounted thereto, from the vehicle.

In accordance with one or more aspects of the present disclosure the endeffector on articulation of the at least one robotic articulated arm isconfigured to:

-   -   place the wheel, with the tire mounted thereto, on an automated        tire changing machine; and    -   one or more of:    -   remove the tire, uninstalled from the wheel by the automated        tire changing machine, from the automated tire machine, and    -   place another tire on the automated tire changing machine for        installation of the other tire to the wheel by the automated        tire machine.

In accordance with one or more aspects of the present disclosure the endeffector on articulation of the at least one robotic articulated arm isconfigured to place the wheel, with the other tire mounted thereto, onan automated tire balancing machine.

In accordance with one or more aspects of the present disclosure the endeffector on articulation of the at least one robotic articulated arminstalls the wheel, with the other tire mounted thereto, to the vehicle.

In accordance with one or more aspects of the present disclosure anautonomous tire changing system comprises:

-   -   two or more autonomous traverse tire changing bots, each of the        autonomous traverse tire changing bots having:    -   a carriage having:    -   a carriage frame,    -   wheels supporting the carriage frame, and    -   a carriage drive section with at least one motor defining at        least one degree of freedom powering at least one of the wheels        effecting autonomous traverse of the carriage, along a traverse        path, relative to a traverse surface or a floor on which the        autonomous traverse tire changing bot rests;    -   a bot frame including:    -   at least one robotic articulated arm mounted to the carriage so        that the bot frame traverses with the carriage as a unit along        the traverse path, and    -   a bot drive section with a motor defining a bot arm degree of        freedom, separate and distinct from the at least one degree of        freedom,    -   wherein the at least one robotic articulated arm has an end        effector having a wheel or tire engagement tool disposed so that        articulation of the at least one robotic articulated arm with        the bot arm degree of freedom effects engagement contact of the        wheel or tire engagement tool and a wheel or a tire mounted on a        vehicle; and    -   a controller communicably connected to the carriage drive        section and the bot drive section of each of the autonomous        traverse tire changing bots so as to effect traverse of one or        more of the autonomous traverse tire changing bots along a        respective traverse path effecting dynamic positioning of a        respective at least one robotic articulated arm of the one or        more of the autonomous traverse tire changing bots relative to a        variable position of the vehicle with the wheel or tire mounted        thereon.

In accordance with one or more aspects of the present disclosure thedynamic positioning of the respective at least one robotic articulatedarm relative to the variable position of the vehicle with the wheel ortire mounted thereon is disposed so that articulation of the respectiveat least one robotic articulated arm engages the wheel or tireengagement tool to the wheel or tire on the vehicle in the variableposition.

In accordance with one or more aspects of the present disclosure thecarriage of each of the two or more autonomous traverse tire changingbots is track guided.

In accordance with one or more aspects of the present disclosure thecarriage of each of the two or more autonomous traverse tire changingbots is configured for autonomous guidance and unrestricted traverse onan undeterministic surface of the traverse surface or the floor.

In accordance with one or more aspects of the present disclosure thecarriage of each of the two or more autonomous traverse tire changingbots has positioning sensors, and the controller is configured to:

-   -   register the variable position of the vehicle,    -   register a variable position of the wheel or tire on the vehicle        defined by the variable position, or    -   register a position of a label or other marker placed on the        wheel or tire.

In accordance with one or more aspects of the present disclosure, foreach of the autonomous traverse tire changing bots, an arm articulationaxis defined by articulation of the at least one robotic articulated armwith the bot arm degree of freedom is separate and distinct from thetraverse path.

In accordance with one or more aspects of the present disclosure, for atleast one of the autonomous traverse tire changing bots, the at leastone robotic articulated arm includes more than one robotic arm, each ofthe more than one robotic arm having a different respective armarticulation axis, and a different respective end effector disposed forworking on the wheel or tire mounted on the vehicle.

In accordance with one or more aspects of the present disclosure, foreach of the autonomous traverse tire changing bots, the at least onewheel or tire engagement tool is a tire mounting/dismounting tool thaton articulation of the at least one robotic articulated arm engages thetire of the wheel mounted on the vehicle and effects mounting of thetire on the wheel and dismounting of the tire off the wheel with thewheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure theautonomous tire changing system further comprises at least one visionsystem coupled to the controller, the vision system being configured toone or more of:

-   -   identify a location and orientation of one or more of the wheel        and tire;    -   read tire sidewall information of the tire mounted to the wheel        to identify tire information with the wheel mounted in situ on        the vehicle;    -   identify a make and model of the vehicle to effect retrieval of        original equipment tire information for the vehicle from a        memory accessible by the controller;    -   inspect the wheel for one or more of damage and corrosion with        the wheel mounted in situ on the vehicle;    -   read tire sidewall information of a replacement or new tire to        verify the replacement or new tire is a correct size based on        one or more of the identified tire information and the original        equipment tire information;    -   read tire sidewall information of a replacement or new tire to        verify department of transportation codes or information, where        the department of transportation codes or information is stored        in a database or memory in association with identifying        information of the vehicle; and    -   read tire sidewall information of a replacement or new tire to        verify a rotation direction of the replacement or new tire.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a tire deflation tool that on articulation of the atleast one robotic articulated arm deflates the tire mounted to the wheelwith the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector comprises a valve stem cap removal tool.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector further comprises a valve core removal tool.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector comprises a tire bead breaker tool that on articulation of theat least one robotic articulated arm breaks a bead of the tire from thewheel with the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector is configured to clean the wheel with the wheel mounted in situon the vehicle.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a tire balancer configured to equalize a combinedweight of the tire and the wheel with the tire and wheel spinning atoperating speeds and with the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a tire balancing bead dispenser configured to dispensetire balancing beads into the tire with the wheel mounted in situ on thevehicle and prior to seating a tire bead of the tire against the wheel.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a tire inflation tool that on articulation of the atleast one robotic articulated arm inflates the tire mounted to the wheelwith the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector further comprises a valve core installation tool.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector comprises a valve stem cap installation tool.

In accordance with one or more aspects of the present disclosure theautonomous tire changing system further comprises at least one visionsystem coupled to the controller, the vision system being configured toone or more of:

-   -   identify a location and orientation of one or more of the wheel        and tire;    -   read tire sidewall information of the tire mounted to the wheel        to identify tire information;    -   identify a make and model of the vehicle to effect retrieval of        original equipment tire information for the vehicle from a        memory accessible by the controller;    -   inspect the wheel for one or more of damage and corrosion;    -   read tire sidewall information of a replacement or new tire to        verify the replacement or new tire is a correct size based on        one or more of the identified tire information and the original        equipment tire information;    -   read tire sidewall information of a replacement or new tire to        verify department of transportation codes or information, where        the department of transportation codes or information is stored        in a database or memory in association with identifying        information of the vehicle; and    -   read tire sidewall information of a replacement or new tire to        verify a rotation direction of the replacement or new tire.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a tire deflation tool that on articulation of the atleast one robotic articulated arm deflates the tire mounted to thewheel.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector comprises a valve stem cap removal tool.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector further comprises a valve core removal tool.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector comprises a tire bead breaker tool that on articulation of theat least one robotic articulated arm breaks a bead of the tire from thewheel.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector is configured to clean the wheel.

In accordance with one or more aspects of the present disclosure theautonomous tire changing system further comprises at least one visionsystem coupled to the controller, the vision system being configured toidentify:

-   -   a lug pattern (i.e., the layout of the wheel mounting holes        expressed as the number of lugs by the diameter of the imaginary        circle formed by the center of the lugs) of the wheel; and    -   a size of lug bolts or lug nuts coupling the wheel to the        vehicle.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector comprises a lug wrench configured to one of both remove andinstall the lug bolts or lug nuts.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a tire inflation tool that on articulation of the atleast one robotic articulated arm inflates the tire mounted to thewheel.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector further comprises a valve core installation tool.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector comprises a valve stem cap installation tool.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a tire balancer configured to equalize a combinedweight of the tire and the wheel with the tire and wheel spinning atoperating speeds.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a tire balancing bead dispenser configured to dispensetire balancing beads into the tire prior to seating a tire bead of thetire against the wheel.

In accordance with one or more aspects of the present disclosure the atleast one robotic articulated arm is configured to install the tire andwheel on the vehicle with the tire balancing beads disposed within awheels assembly formed by the wheel and the tire mounted to the wheel.

In accordance with one or more aspects of the present disclosure, forone or more of the autonomous traverse tire changing bots, the endeffector includes a wheel assembly grip that on articulation of the atleast one robotic articulated arm removes the wheel, with the tiremounted thereto, from the vehicle.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector on articulation of the at least one robotic articulated arm isconfigured to:

-   -   place the wheel, with the tire mounted thereto, on an automated        tire changing machine; and    -   one or more of:    -   remove the tire, uninstalled from the wheel by the automated        tire changing machine, from the automated tire machine, and    -   place another tire on the automated tire changing machine for        installation of the other tire to the wheel by the automated        tire machine.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector on articulation of the at least one robotic articulated arm isconfigured to place the wheel, with the other tire mounted thereto, onan automated tire balancing machine.

In accordance with one or more aspects of the present disclosure, forthe one or more of the autonomous traverse tire changing bots, the endeffector on articulation of the at least one robotic articulated arminstalls the wheel, with the other tire mounted thereto, to the vehicle.

In accordance with one or more aspects of the present disclosure amethod for autonomously changing a tire comprises:

providing an autonomous traverse tire changing bot having:

-   -   a carriage having:    -   a carriage frame,    -   wheels supporting the carriage frame, and    -   a carriage drive section with at least one motor defining at        least one degree of freedom powering at least one of the wheels        effecting autonomous traverse of the carriage, along a traverse        path, relative to a traverse surface or a floor on which the        autonomous traverse tire changing bot rests;    -   a bot frame including:    -   at least one robotic articulated arm mounted to the carriage so        that the bot frame traverses with the carriage as a unit along        the traverse path, and    -   a bot drive section with a motor defining a bot arm degree of        freedom, separate and distinct from the at least one degree of        freedom,    -   wherein the at least one robotic articulated arm has an end        effector having a wheel or tire engagement tool disposed;    -   traversing the autonomous traverse tire changing bot along the        traverse path, with a controller communicably connected to the        carriage drive section and the bot drive section, to effect        dynamic positioning of the at least one robotic articulated arm        relative to a variable position of the vehicle with the wheel or        tire mounted thereon; and    -   articulating the at least one robotic articulated arm, under        control of the controller, with the bot arm degree of freedom        effecting engagement contact of the wheel or tire engagement        tool and a wheel or a tire mounted on a vehicle so as to effect        changing the tire with the autonomous traverse tire changing        bot.

In accordance with one or more aspects of the present disclosure thedynamic positioning of the at least one robotic articulated arm relativeto the variable position of the vehicle with the wheel or tire mountedthereon is disposed so that articulation of the at least one roboticarticulated arm engages the wheel or tire engagement tool to the wheelor tire on the vehicle in the variable position.

In accordance with one or more aspects of the present disclosuretraversing the autonomous traverse tire changing bot along the traversepath includes the carriage travelling along and being guided by a track.

In accordance with one or more aspects of the present disclosuretraversing the autonomous traverse tire changing bot along the traversepath includes the carriage being autonomously guided in unrestrictedtraverse on an undeterministic surface of the traverse surface or thefloor.

In accordance with one or more aspects of the present disclosure themethod further comprises registering, with the controller andpositioning sensors of the carriage, the variable position of thevehicle, or a variable position of the wheel or tire on the vehicledefined by the variable position.

In accordance with one or more aspects of the present disclosure an armarticulation axis defined by articulation of the at least one roboticarticulated arm with the bot arm degree of freedom is separate anddistinct from the traverse path.

In accordance with one or more aspects of the present disclosure the atleast one robotic articulated arm includes more than one robotic arm,each of the more than one robotic arm having a different respective armarticulation axis, and a different respective end effector disposed forworking on the wheel or tire mounted on the vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises mounting of the tire on the wheel anddismounting of the tire off the wheel with the at least one wheel ortire engagement tool, wherein:

-   -   the at least one wheel or tire engagement tool is a tire        mounting/dismounting tool that on articulation of the at least        one robotic articulated arm engages the tire of the wheel        mounted on the vehicle, and    -   the mounting of the tire on the wheel and dismounting of the        tire off the wheel is effected by the autonomous traverse tire        changing bot with the wheel mounted in situ on the vehicle or        with the wheel removed from the vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises, with at least one vision system coupled to thecontroller, one or more of:

-   -   identifying a location and orientation of one or more of the        wheel and tire;    -   reading tire sidewall information of the tire mounted to the        wheel to identify tire information with the wheel mounted in        situ on the vehicle or with the wheel removed from the vehicle;    -   identifying a make and model of the vehicle to effect retrieval        of original equipment tire information for the vehicle from a        memory accessible by the controller;    -   inspecting the wheel for one or more of damage and corrosion        with the wheel mounted in situ on the vehicle or with the wheel        removed from the vehicle;    -   reading tire sidewall information of a replacement or new tire        to verify the replacement or new tire is a correct size based on        one or more of the identified tire information and the original        equipment tire information;    -   reading tire sidewall information of a replacement or new tire        to verify department of transportation codes or information,        where the department of transportation codes or information is        stored in a database or memory in association with identifying        information of the vehicle; and    -   reading tire sidewall information of a replacement or new tire        to verify a rotation direction of the replacement or new tire.

In accordance with one or more aspects of the present disclosure themethod further comprises, on articulation of the at least one roboticarticulated arm, deflating the tire mounted to the wheel with a tiredeflation tool of the end effector with the wheel mounted in situ on thevehicle or with the wheel removed from the vehicle.

In accordance with one or more aspects of the present disclosure themethod, further comprises removing a valve stem cap with a valve stemcap removal tool of the end effector.

In accordance with one or more aspects of the present disclosure themethod, further comprises removing a valve core with a valve coreremoval tool of the end effector.

In accordance with one or more aspects of the present disclosure themethod further comprises, on articulation of the at least one roboticarticulated arm, breaking a bead of the tire from the wheel with a tirebead breaker tool of the end effector with the wheel mounted in situ onthe vehicle or with the wheel removed from the vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises cleaning the wheel with the end effector withthe wheel mounted in situ on the vehicle or with the wheel removed fromthe vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises equalizing, with a tire balancer of the endeffector, a combined weight of the tire and the wheel with the tire andwheel spinning at operating speeds and with the wheel mounted in situ onthe vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises, with a wheel assembly grip of the end effectorand on articulation of the at least one robotic articulated arm,removing the wheel, with the tire mounted thereto, from the vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises, with the end effector on articulation of theat least one robotic articulated arm:

-   -   placing the wheel, with the tire mounted thereto, on an        automated tire changing machine; and    -   one or more of:    -   removing the tire, uninstalled from the wheel by the automated        tire changing machine, from the automated tire machine, and    -   placing another tire on the automated tire changing machine for        installation of the other tire to the wheel by the automated        tire machine.

In accordance with one or more aspects of the present disclosure themethod further comprises, with the end effector on articulation of theat least one robotic articulated arm, placing the wheel, with the othertire mounted thereto, on an automated tire balancing machine.

In accordance with one or more aspects of the present disclosure themethod further comprises, with the end effector on articulation of theat least one robotic articulated arm, installing the wheel, with theother tire mounted thereto, to the vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises dispensing, with a tire balancing beaddispenser of the end effector, tire balancing beads into the tire priorto seating a tire bead of the tire against the wheel.

In accordance with one or more aspects of the present disclosure themethod further comprises, with the at least one robotic articulated arm,installing the tire and wheel on the vehicle with the tire balancingbeads disposed within a wheels assembly formed by the wheel and the tiremounted to the wheel.

In accordance with one or more aspects of the present disclosure themethod further comprises, with a tire inflation tool of the end effectorand on articulation of the at least one robotic articulated arm,inflating the tire mounted to the wheel with the wheel mounted in situon the vehicle or removed from the vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises installing a valve core with a valve coreinstallation tool of the end effector.

In accordance with one or more aspects of the present disclosure themethod further comprises installing a valve stem cap with a valve stemcap installation tool of the end effector.

In accordance with one or more aspects of the present disclosure themethod further comprises, with at least one vision system coupled to thecontroller, identifying:

-   -   a lug pattern of the wheel; and    -   a size of lug bolts or lug nuts coupling the wheel to the        vehicle.

In accordance with one or more aspects of the present disclosure themethod further comprises one of both removing and installing the lugbolts or lug nuts with a lug wrench of the end effector.

In accordance with one or more aspects of the present disclosure methodfurther comprises with a tire balancer of the end effector, equalizing acombined weight of the tire and the wheel with the tire and wheelspinning at operating speeds.

In accordance with one or more aspects of the present disclosure themethod further comprises raising the tires of the vehicle off of thetraverse surface or the floor so as to effect changing of the tire.

In accordance with one or more aspects of the present disclosure themethod further comprises removing a normal force exerted on the tire bya tire support surface so as to distance the tire from the tire supportsurface and effect changing of the tire.

In accordance with one or more aspects of the present disclosure, anautonomous traverse tire changing bot comprising:

-   -   a carriage having:    -   a carriage frame,    -   wheels supporting the carriage frame, and    -   a carriage drive section with at least one motor defining at        least one degree of freedom powering at least one of the wheels        effecting autonomous traverse of the carriage, along a traverse        path, relative to a traverse surface or a floor on which the        autonomous traverse tire changing bot rests;    -   a bot frame including:    -   at least one actuator mounted to the carriage so that the bot        frame traverses with the carriage as a unit along the traverse        path, and    -   a bot drive section with a motor defining an actuator degree of        freedom, separate and distinct from the at least one degree of        freedom,    -   wherein the at least one actuator has an end effector having a        wheel or tire engagement tool disposed so that articulation of        the at least one actuator with the actuator degree of freedom        effects engagement contact of the wheel or tire engagement tool        and a wheel or a tire mounted on a vehicle; and

a controller communicably connected to the carriage drive section andthe bot drive section so as to effect traverse of the autonomoustraverse tire changing bot along the traverse path effecting dynamicpositioning of the at least one actuator relative to a variable positionof the vehicle with the wheel or tire mounted thereon.

In accordance with one or more aspects of the present disclosure, thedynamic positioning of the at least one actuator relative to thevariable position of the vehicle with the wheel or tire mounted thereonis disposed so that articulation of the at least one actuator engagesthe wheel or tire engagement tool to the wheel or tire on the vehicle inthe variable position.

In accordance with one or more aspects of the present disclosure, thecarriage is track guided.

In accordance with one or more aspects of the present disclosure, thecarriage is configured for autonomous guidance and unrestricted traverseon an undeterministic surface of the traverse surface or the floor.

In accordance with one or more aspects of the present disclosure, thecarriage has positioning sensors, and the controller is configured to:

-   -   register the variable position of the vehicle,    -   register a variable position of the wheel or tire on the vehicle        defined by the variable position, or    -   register a position of a label or other marker placed on the        wheel or tire.

In accordance with one or more aspects of the present disclosure, anactuator articulation axis defined by articulation of the at least oneactuator with the actuator degree of freedom is separate and distinctfrom the traverse path.

In accordance with one or more aspects of the present disclosure, the atleast one actuator includes more than one actuator, each of the morethan one actuator having a different respective actuator articulationaxis, and a different respective end effector disposed for working onthe wheel or tire mounted on the vehicle.

In accordance with one or more aspects of the present disclosure, the atleast one wheel or tire engagement tool is a tire mounting/dismountingtool that on articulation of the at least one actuator engages the tireof the wheel mounted on the vehicle and effects mounting of the tire onthe wheel and dismounting of the tire off the wheel with the wheelmounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, theautonomous traverse tire changing bot further comprises at least onevision system coupled to the controller, the vision system beingconfigured to one or more of:

-   -   identify a location and orientation of one or more of the wheel        and tire;    -   read tire sidewall information of the tire mounted to the wheel        to identify tire information with the wheel mounted in situ on        the vehicle;    -   identify a make and model of the vehicle to effect retrieval of        original equipment tire information for the vehicle from a        memory accessible by the controller;    -   inspect the wheel for one or more of damage and corrosion with        the wheel mounted in situ on the vehicle;    -   read tire sidewall information of a replacement or new tire to        verify the replacement or new tire is a correct size based on        one or more of the identified tire information and the original        equipment tire information;    -   read tire sidewall information of a replacement or new tire to        verify department of transportation codes or information, where        the department of transportation codes or information is stored        in a database or memory in association with identifying        information of the vehicle; and    -   read tire sidewall information of a replacement or new tire to        verify a rotation direction of the replacement or new tire.

In accordance with one or more aspects of the present disclosure, theend effector includes a tire deflation tool that on articulation of theat least one actuator deflates the tire mounted to the wheel with thewheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, theend effector comprises a valve stem cap removal tool.

In accordance with one or more aspects of the present disclosure, theend effector further comprises a valve core removal tool.

In accordance with one or more aspects of the present disclosure, theend effector comprises a tire bead breaker tool that on articulation ofthe at least one actuator breaks a bead of the tire from the wheel withthe wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, theend effector is configured to clean the wheel with the wheel mounted insitu on the vehicle.

In accordance with one or more aspects of the present disclosure, theend effector includes a tire balancer configured to equalize a combinedweight of the tire and the wheel with the tire and wheel spinning atoperating speeds and with the wheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, theend effector includes a tire balancing bead dispenser configured todispense tire balancing beads into the tire with the wheel mounted insitu on the vehicle and prior to seating a tire bead of the tire againstthe wheel.

In accordance with one or more aspects of the present disclosure, theend effector includes a tire inflation tool that on articulation of theat least one actuator inflates the tire mounted to the wheel with thewheel mounted in situ on the vehicle.

In accordance with one or more aspects of the present disclosure, theend effector further comprises a valve core installation tool.

In accordance with one or more aspects of the present disclosure, theend effector comprises a valve stem cap installation tool.

In accordance with one or more aspects of the present disclosure, theautonomous traverse tire changing bot further comprises at least onevision system coupled to the controller, the vision system beingconfigured to one or more of:

-   -   identify a location and orientation of one or more of the wheel        and tire;    -   read tire sidewall information of the tire mounted to the wheel        to identify tire information;    -   identify a make and model of the vehicle to effect retrieval of        original equipment tire information for the vehicle from a        memory accessible by the controller;    -   inspect the wheel for one or more of damage and corrosion;    -   read tire sidewall information of a replacement or new tire to        verify the replacement or new tire is a correct size based on        one or more of the identified tire information and the original        equipment tire information;    -   read tire sidewall information of a replacement or new tire to        verify department of transportation codes or information, where        the department of transportation codes or information is stored        in a database or memory in association with identifying        information of the vehicle; and    -   read tire sidewall information of a replacement or new tire to        verify a rotation direction of the replacement or new tire.

In accordance with one or more aspects of the present disclosure, theend effector includes a tire deflation tool that on articulation of theat least one actuator deflates the tire mounted to the wheel.

In accordance with one or more aspects of the present disclosure, theend effector comprises a valve stem cap removal tool.

In accordance with one or more aspects of the present disclosure, theend effector further comprises a valve core removal tool.

In accordance with one or more aspects of the present disclosure, theend effector comprises a tire bead breaker tool that on articulation ofthe at least one actuator breaks a bead of the tire from the wheel.

In accordance with one or more aspects of the present disclosure, theend effector is configured to clean the wheel.

In accordance with one or more aspects of the present disclosure, theautonomous traverse tire changing bot further comprises at least onevision system coupled to the controller, the vision system beingconfigured to identify:

-   -   a lug pattern of the wheel; and    -   a size of lug bolts or lug nuts coupling the wheel to the        vehicle.

In accordance with one or more aspects of the present disclosure, theend effector comprises a lug wrench configured to one of both remove andinstall the lug bolts or lug nuts.

In accordance with one or more aspects of the present disclosure, theend effector includes a tire inflation tool that on articulation of theat least one actuator inflates the tire mounted to the wheel.

In accordance with one or more aspects of the present disclosure, theend effector further comprises a valve core installation tool.

In accordance with one or more aspects of the present disclosure, theend effector comprises a valve stem cap installation tool.

In accordance with one or more aspects of the present disclosure, theend effector includes a tire balancer configured to equalize a combinedweight of the tire and the wheel with the tire and wheel spinning atoperating speeds.

In accordance with one or more aspects of the present disclosure:

-   -   the end effector includes a tire balancing bead dispenser        configured to dispense tire balancing beads into the tire prior        to seating a tire bead of the tire against the wheel; and    -   the at least one actuator is configured to install the tire and        wheel on the vehicle with the tire balancing beads disposed        within a wheel assembly formed by the wheel and the tire mounted        to the wheel.

In accordance with one or more aspects of the present disclosure, theend effector includes a wheel assembly grip that on articulation of theat least one actuator removes the wheel, with the tire mounted thereto,from the vehicle.

In accordance with one or more aspects of the present disclosure, theend effector on articulation of the at least one actuator is configuredto:

-   -   place the wheel, with the tire mounted thereto, on an automated        tire changing machine; and    -   one or more of:    -   remove the tire, uninstalled from the wheel by the automated        tire changing machine, from the automated tire machine, and    -   place another tire on the automated tire changing machine for        installation of the other tire to the wheel by the automated        tire machine.

In accordance with one or more aspects of the present disclosure, theend effector on articulation of the at least one actuator is configuredto place the wheel, with the other tire mounted thereto, on an automatedtire balancing machine.

In accordance with one or more aspects of the present disclosure, theend effector on articulation of the at least one actuator installs thewheel, with the other tire mounted thereto, to the vehicle.

In accordance with one or more aspects of the present disclosure, amethod for autonomously changing a tire is provided. The methodcomprises:

-   -   providing an autonomous traverse tire changing bot having:    -   a carriage having:    -   a carriage frame,    -   wheels supporting the carriage frame, and    -   a carriage drive section with at least one motor defining at        least one degree of freedom powering at least one of the wheels        effecting autonomous traverse of the carriage, along a traverse        path, relative to a traverse surface or a floor on which the        autonomous traverse tire changing bot rests;    -   a bot frame including:    -   at least one actuator mounted to the carriage so that the bot        frame traverses with the carriage as a unit along the traverse        path, and    -   a bot drive section with a motor defining an actuator degree of        freedom, separate and distinct from the at least one degree of        freedom,    -   wherein the at least one actuator has an end effector having a        tire engagement tool;    -   traversing the autonomous traverse tire changing bot along the        traverse path, with a controller communicably connected to the        carriage drive section and the bot drive section, to effect        dynamic positioning of the at least one actuator relative to a        variable position of a vehicle with the tire mounted thereon;        and    -   actuating the at least one actuator, under control of the        controller, with the actuator degree of freedom effecting        engagement contact of the tire engagement tool and the tire        mounted on the vehicle so as to effect changing the tire with        the autonomous traverse tire changing bot.

It should be understood that the foregoing description is onlyillustrative of the aspects of the present disclosure. Variousalternatives and modifications can be devised by those skilled in theart without departing from the aspects of the present disclosure.Accordingly, the aspects of the present disclosure are intended toembrace all such alternatives, modifications and variances that fallwithin the scope of any claims appended hereto. Further, the mere factthat different features are recited in mutually different dependent orindependent claims does not indicate that a combination of thesefeatures cannot be advantageously used, such a combination remainingwithin the scope of the aspects of the present disclosure.

What is claimed is:
 1. A method of changing a tire with an autonomoustraverse tire changing bot, the method comprising: providing a carriagehaving a carriage frame, wheels supporting the carriage frame, and acarriage drive section with at least one motor defining at least onedegree of freedom powering at least one of the wheels for effectingautonomous traverse of the carriage, along a traverse path, relative toa traverse surface or a floor on which the autonomous traverse tirechanging bot rests; providing a bot frame including at least one roboticarticulated arm mounted to the carriage so that the bot frame traverseswith the carriage as a unit along the traverse path, and a bot drivesection with a motor defining a bot arm degree of freedom, separate anddistinct from the at least one degree of freedom, wherein the at leastone robotic articulated arm has an end effector having a wheel or tireengagement tool disposed for effecting engagement contact of the wheelor tire engagement tool and a wheel or a tire mounted on a vehicle viaarticulation of the at least one robotic articulated arm with the botarm degree of freedom; and effecting, with a controller communicablyconnected to the carriage drive section and the bot drive section,traverse of the autonomous traverse tire changing bot along the traversepath effecting dynamic positioning of the at least one roboticarticulated arm relative to a variable position of the vehicle with thewheel or tire mounted thereon.
 2. The method of claim 1, wherein thedynamic positioning of the at least one robotic articulated arm relativeto the variable position of the vehicle with the wheel or tire mountedthereon is disposed for engaging the wheel or tire engagement tool tothe wheel or tire on the vehicle in the variable position viaarticulation of the at least one robotic articulated arm.
 3. The methodof claim 1, wherein the carriage is track guided.
 4. The method of claim1, wherein the carriage is configured for autonomous guidance andunrestricted traverse on an undeterministic surface of the traversesurface or the floor.
 5. The method of claim 1, wherein the carriage haspositioning sensors, the method further comprising, with the controller:registering the variable position of the vehicle, registering a variableposition of the wheel or tire on the vehicle defined by the variableposition, or registering a position of a label or other marker placed onthe wheel or tire.
 6. The method of claim 1, wherein an arm articulationaxis defined by articulation of the at least one robotic articulated armwith the bot arm degree of freedom is separate and distinct from thetraverse path.
 7. The method of claim 6, wherein the at least onerobotic articulated arm includes more than one robotic arm, each of themore than one robotic arm having a different respective arm articulationaxis, and a different respective end effector disposed for working onthe wheel or tire mounted on the vehicle.
 8. The method of claim 1,wherein at least one vision system is coupled to the controller, themethod further comprising, with the vision system, one or more of:identifying a location and orientation of one or more of the wheel andtire; reading tire sidewall information of the tire mounted to the wheelto identify tire information with the wheel mounted in situ on thevehicle; identifying a make and model of the vehicle to effect retrievalof original equipment tire information for the vehicle from a memoryaccessible by the controller; inspecting the wheel for one or more ofdamage and corrosion with the wheel mounted in situ on the vehicle;reading tire sidewall information of a replacement or new tire to verifythe replacement or new tire is a correct size based on one or more ofthe identified tire information and the original equipment tireinformation; reading tire sidewall information of a replacement or newtire to verify department of transportation codes or information, wherethe department of transportation codes or information is stored in adatabase or memory in association with identifying information of thevehicle; and reading tire sidewall information of a replacement or newtire to verify a rotation direction of the replacement or new tire. 9.The method of claim 1, wherein the end effector includes a tiredeflation tool for deflating the tire mounted to the wheel with thewheel mounted in situ on the vehicle upon articulation of the at leastone robotic articulated arm.
 10. The method of claim 9, wherein the endeffector comprises a valve stem cap removal tool.
 11. The method ofclaim 9, wherein the end effector further comprises a valve core removaltool.
 12. The method of claim 1, wherein the end effector includes atire inflation tool for inflating the tire mounted to the wheel with thewheel mounted in situ on the vehicle upon articulation of the at leastone robotic articulated arm.
 13. The method of claim 1, wherein at leastone vision system is coupled to the controller, the method furthercomprising identifying, with the vision system: a lug pattern of thewheel; and a size of lug bolts or lug nuts coupling the wheel to thevehicle.
 14. The method of claim 13, wherein the end effector comprisesa lug wrench configured for both removing and installing the lug boltsor lug nuts, and wherein the end effector includes a wheel assembly gripfor removing the wheel, with the tire mounted thereto, from the vehicleupon articulation of the at least one robotic articulated arm.
 15. Themethod of claim 14, further comprising, with the end effector onarticulation of the at least one robotic articulated arm: placing thewheel, with the tire mounted thereto, on an automated tire changingmachine; and one or more of: removing the tire, uninstalled from thewheel by the automated tire changing machine, from the automated tiremachine, and placing another tire on the automated tire changing machinefor installation of the other tire to the wheel by the automated tiremachine.
 16. The method of claim 15, wherein the end effector onarticulation of the at least one robotic articulated arm is configuredfor placing the wheel, with the other tire mounted thereto, on anautomated tire balancing machine.
 17. The method of claim 15, whereinthe end effector on articulation of the at least one robotic articulatedarm installs the wheel, with the other tire mounted thereto, to thevehicle.
 18. A method for changing a tire with an autonomous traversetire changing bot, the method comprising: providing a carriage having acarriage frame, wheels supporting the carriage frame, and a carriagedrive section with at least one motor defining at least one degree offreedom powering at least one of the wheels effecting autonomoustraverse of the carriage, along a traverse path, relative to a traversesurface or a floor on which the autonomous traverse tire changing botrests; providing a bot frame including at least one robotic articulatedarm mounted to the carriage so that the bot frame traverses with thecarriage as a unit along the traverse path, and a bot drive section witha motor defining a bot arm degree of freedom, separate and distinct fromthe at least one degree of freedom, wherein the at least one roboticarticulated arm has an end effector having a wheel or tire engagementtool; effecting, with a controller communicably connected to thecarriage drive section and the bot drive section, traverse of theautonomous traverse tire changing bot along the traverse path effectingdynamic positioning of the at least one robotic articulated arm relativeto a variable position of the vehicle with the wheel or tire mountedthereon; and identifying, with at least one vision system coupled to thecontroller a lug pattern of the wheel, and a size of lug bolts or lugnuts coupling the wheel to the vehicle.
 19. The method of claim 18,wherein the end effector comprises a lug wrench configured for bothremoving and installing the lug bolts or lug nuts.
 20. A method forchanging a tire with an autonomous tire changing system, the methodcomprising: providing two or more autonomous traverse tire changingbots, each of the autonomous traverse tire changing bots having acarriage including a carriage frame, wheels supporting the carriageframe, and a carriage drive section with at least one motor defining atleast one degree of freedom powering at least one of the wheelseffecting autonomous traverse of the carriage, along a traverse path,relative to a traverse surface or a floor on which the autonomoustraverse tire changing bot rests, and a bot frame including at least onerobotic articulated arm mounted to the carriage so that the bot frametraverses with the carriage as a unit along the traverse path, and a botdrive section with a motor defining a bot arm degree of freedom,separate and distinct from the at least one degree of freedom, whereinthe at least one robotic articulated arm has an end effector having awheel or tire engagement tool disposed so that articulation of the atleast one robotic articulated arm with the bot arm degree of freedomeffects engagement contact of the wheel or tire engagement tool and awheel or a tire mounted on a vehicle; and effecting, with a controllercommunicably connected to the carriage drive section and the bot drivesection of each of the autonomous traverse tire changing bots, traverseof one or more of the autonomous traverse tire changing bots along arespective traverse path effecting dynamic positioning of a respectiveat least one robotic articulated arm of the one or more of theautonomous traverse tire changing bots relative to a variable positionof the vehicle with the wheel or tire mounted thereon.